4 papers
Spatially-Aware Adaptive Trajectory Optimization with Controller-Guided Feedback for Autonomous Racing
Alexander Wachter, Alexander Willert, Marc-Philip Ecker +1
We present a closed-loop framework for autonomous raceline optimization that combines NURBS-based trajectory representation, CMA-ES global trajectory optimization, and controller-g…
SafeFlowMPC: Predictive and Safe Trajectory Planning for Robot Manipulators with Learning-based Policies
Thies Oelerich, Gerald Ebmer, Christian Hartl-Nesic +1
The emerging integration of robots into everyday life brings several major challenges. Compared to classical industrial applications, more flexibility is needed in combination with…
Systematic Evaluation of Trade-Offs in Motion Planning Algorithms for Optimal Industrial Robotic Work Cell Design
G. de Mathelin, C. Hartl-Nesic, A. Kugi
The performance of industrial robotic work cells depends on optimizing various hyperparameters referring to the cell layout, such as robot base placement, tool placement, and kinem…
Incremental Language Understanding for Online Motion Planning of Robot Manipulators
Mitchell Abrams, Thies Oelerich, Christian Hartl-Nesic +2
Human-robot interaction requires robots to process language incrementally, adapting their actions in real-time based on evolving speech input. Existing approaches to language-guide…