Chance-constrained collision avoidance for mavs in dynamic environments
H Zhu, J Alonso-Mora - IEEE Robotics and Automation Letters, 2019 - ieeexplore.ieee.org
Safe autonomous navigation of microair vehicles in cluttered dynamic environments is
challenging due to the uncertainties arising from robot localization, sensing, and motion …
challenging due to the uncertainties arising from robot localization, sensing, and motion …
Autonomous multilateral debridement with the raven surgical robot
Autonomous robot execution of surgical sub-tasks has the potential to reduce surgeon
fatigue and facilitate supervised tele-surgery. This paper considers the sub-task of surgical …
fatigue and facilitate supervised tele-surgery. This paper considers the sub-task of surgical …
Stochastic dynamic games in belief space
W Schwarting, A Pierson, S Karaman… - IEEE Transactions on …, 2021 - ieeexplore.ieee.org
Information gathering while interacting with other agents under sensing and motion
uncertainty is critical in domains such as driving, service robots, racing, or surveillance. The …
uncertainty is critical in domains such as driving, service robots, racing, or surveillance. The …
Provably safe robot navigation with obstacle uncertainty
B Axelrod, LP Kaelbling… - … International Journal of …, 2018 - journals.sagepub.com
As drones and autonomous cars become more widespread, it is becoming increasingly
important that robots can operate safely under realistic conditions. The noisy information fed …
important that robots can operate safely under realistic conditions. The noisy information fed …
Stochastic extended LQR: Optimization-based motion planning under uncertainty
W Sun, J Van Den Berg, R Alterovitz - Algorithmic Foundations of Robotics …, 2015 - Springer
We introduce a novel optimization-based motion planner, Stochastic Extended LQR
(SELQR), which computes a trajectory and associated linear control policy with the objective …
(SELQR), which computes a trajectory and associated linear control policy with the objective …
Robust quantum optimal control with trajectory optimization
T Propson, BE Jackson, J Koch, Z Manchester… - Physical Review …, 2022 - APS
The ability to engineer high-fidelity gates on quantum processors in the presence of
systematic errors remains the primary barrier to achieving quantum advantage. Quantum …
systematic errors remains the primary barrier to achieving quantum advantage. Quantum …
Fast and bounded probabilistic collision detection for high-DOF trajectory planning in dynamic environments
We present a novel approach to perform probabilistic collision detection between a high-
DOF robot and imperfect obstacle representations in dynamic and uncertain environments …
DOF robot and imperfect obstacle representations in dynamic and uncertain environments …
Safe motion planning for imprecise robotic manipulators by minimizing probability of collision
W Sun, LG Torres, J Van Den Berg… - Robotics Research: The …, 2016 - Springer
Robotic manipulators designed for home assistance and new surgical procedures often
have significant uncertainty in their actuation due to compliance requirements, cost …
have significant uncertainty in their actuation due to compliance requirements, cost …
Efficient probabilistic collision detection for non-convex shapes
We present new algorithms to perform fast probabilistic collision queries between convex as
well as non-convex objects. Our approach is applicable to general shapes, where one or …
well as non-convex objects. Our approach is applicable to general shapes, where one or …
C-opt: Coverage-aware trajectory optimization under uncertainty
B Davis, I Karamouzas, SJ Guy - IEEE Robotics and …, 2016 - ieeexplore.ieee.org
We introduce a new problem of continuous, coverage-aware trajectory optimization under
localization and sensing uncertainty. In this problem, the goal is to plan a path from a start …
localization and sensing uncertainty. In this problem, the goal is to plan a path from a start …