In recent years, the research community has witnessed an explosion of literature dealing
with the mimicking of behavioral patterns and social phenomena observed in nature towards …

In recent years, enormous advancement has taken place in biomedical engineering, which
has paved the way for robot-assisted surgery in various complex surgical procedures. In …

Humanoid robots have great potential to perform various human-level skills. These skills
involve locomotion, manipulation, and cognitive capabilities. Driven by advances in machine …

This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for
multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans …

We address the risk bounded trajectory optimization problem of stochastic nonlinear robotic
systems. More precisely, we consider the motion planning problem in which the robot has …

Planning safe trajectories for nonlinear dynamical systems subject to model uncertainty and
disturbances is challenging. In this work, we present a novel approach to tackle chance …

Motion planning algorithms have seen considerable progress and expansion across various
domains of science and technology during the last few decades, where rapid advancements …

This paper addresses the problem of evaluating learning systems in safety critical domains
such as autonomous driving, where failures can have catastrophic consequences. We focus …

Trajectory optimization under uncertainty underpins a wide range of applications in robotics.
However, existing methods are limited in terms of reasoning about sources of epistemic and …

We present a data-driven algorithm for efficiently computing stochastic control policies for
general joint chance constrained optimal control problems. Our approach leverages the …