Robot assistants and professional coworkers are becoming a commodity in domestic and
industrial settings. In order to enable robots to share their workspace with humans and …

A broad spectrum of issues have to be addressed in order to tackle the problem of a safe
and dependable physical Human–Robot Interaction (pHRI). In the immediate future, metrics …

We present a new optimization-based approach for robotic motion planning among
obstacles. Like CHOMP (Covariant Hamiltonian Optimization for Motion Planning), our …

Navigation is a basic skill for autonomous robots. In the last years human–robot interaction
has become an important research field that spans all of the robot capabilities including …

In this paper, we present CHOMP (covariant Hamiltonian optimization for motion planning),
a method for trajectory optimization invariant to reparametrization. CHOMP uses functional …

We present a novel approach for incorporating collision avoidance into trajectory
optimization as a method of solving robotic motion planning problems. At the core of our …

Existing high-dimensional motion planning algorithms are simultaneously overpowered and
underpowered. In domains sparsely populated by obstacles, the heuristics used by …

In this paper a real-time collision avoidance approach is presented for safe human-robot
coexistence. The main contribution is a fast method to evaluate distances between the robot …

In this paper we present a framework that allows a human and a robot to perform
simultaneous manipulation tasks safely in close proximity. The proposed framework is …

The promise of oceanic discovery has long intrigued scientists and explorers, whether with
the idea of studying underwater ecology and climate change or with the hope of uncovering …