69 citations · 462 across the 66 of their papers we have counts for
37 papers · 1 filter
Mobile Robot Sensory Coverage in 2-D Environments: An Optimization Approach with Efficiency Bounds
E. Fourney, J. W. Burdick, E. D. Rimon
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find t…
A Safety-Critical Framework for UGVs in Complex Environments: A Data-Driven Discrepancy-Aware Approach
Skylar X. Wei, Lu Gan, Joel W. Burdick
This work presents a novel data-driven multi-layered planning and control framework for the safe navigation of a class of unmanned ground vehicles (UGVs) in the presence of unknown…
Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification
Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi +5
The need for a systematic approach to risk assessment has increased in recent years due to the ubiquity of autonomous systems that alter our day-to-day experiences and their need f…
A Learning-Based Framework for Safe Human-Robot Collaboration with Multiple Backup Control Barrier Functions
Neil C. Janwani, Ersin Daş, Thomas Touma +3
Ensuring robot safety in complex environments is a difficult task due to actuation limits, such as torque bounds. This paper presents a safety-critical control framework that lever…
The Fractal Hand-II: Reviving a Classic Mechanism for Contemporary Grasping Challenges
Malcolm G. A. Tisdale, Joel W. Burdick
This paper, and its companion, propose a new fractal robotic gripper, drawing inspiration from the century-old Fractal Vise. The unusual synergistic properties allow it to passivel…
An Active Learning Based Robot Kinematic Calibration Framework Using Gaussian Processes
Ersin Daş, Joel W. Burdick
Future NASA lander missions to icy moons will require completely automated, accurate, and data efficient calibration methods for the robot manipulator arms that sample icy terrains…