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Bakker, S. (author), Knödler, L. (author), Spahn, M. (author), Böhmer, J.W. (author), Alonso-Mora, J. (author)
In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as Multi-Robot Dynamic Fabrics (MRDF). This geometric method enables a very high planning frequency for high...
conference paper 2024
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Li, Jingqi (author), Chiu, Chih Yuan (author), Peters, L. (author), Palafox, Fernando (author), Karabag, Mustafa (author), Alonso-Mora, J. (author), Sojoudi, Somayeh (author), Tomlin, Claire (author), Fridovich-Keil, David (author)
Decision-making in multi-player games can be extremely challenging, particularly under uncertainty. In this work, we propose a new sample-based approximation to a class of stochastic, general-sum, pure Nash games, where each player has an expected-value objective and a set of chance constraints. This new approximation scheme inherits the...
conference paper 2023
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Khaled Mustafa, K.A. (author), de Groot, O.M. (author), Wang, X. (author), Kober, J. (author), Alonso-Mora, J. (author)
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are incorporated into the planning problem to provide probabilistic safety guarantees by imposing an upper bound...
conference paper 2023
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Wang, Weiying (author), Kemmeren, A.C. (author), Son, Daniel (author), Alonso-Mora, J. (author), Gil, Stephanie (author)
In this paper we propose a novel algorithm, Wi-Closure, to improve the computational efficiency and robustness of loop closure detection in multi-robot SLAM. Our approach decreases the computational overhead of classical approaches by pruning the search space of potential loop closures, prior to evaluation by a typical multi-robot SLAM pipeline....
conference paper 2023
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Streichenberg, L.M. (author), Trevisan, E. (author), Chung, Jen Jen (author), Siegwart, R. (author), Alonso-Mora, J. (author)
Autonomous vehicles that operate in urban environments shall comply with existing rules and reason about the interactions with other decision-making agents. In this paper, we introduce a decentralized and communication-free interaction-aware motion planner and apply it to Autonomous Surface Vessels (ASVs) in urban canals. We build upon a...
conference paper 2023
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de Groot, O.M. (author), Ferranti, L. (author), Gavrila, D. (author), Alonso-Mora, J. (author)
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to two distinct passing behaviors per obstacle (passing left or right). For local planners, such as receding...
conference paper 2023
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Casao, S. (author), Otero, Andrés (author), Serra Gomez, A. (author), Murillo, Ana C. (author), Alonso-Mora, J. (author), Montijano, Eduardo (author)
Robotic applications involving people often require advanced perception systems to better understand complex real-world scenarios. To address this challenge, photo-realistic and physics simulators are gaining popularity as a means of generating accurate data labeling and designing scenarios for evaluating generalization capabilities, e.g.,...
conference paper 2023
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Spahn, M. (author), Alonso-Mora, J. (author)
In this paper, we present an automated parameter optimization method for trajectory generation. We formulate parameter optimization as a constrained optimization problem that can be effectively solved using Bayesian optimization. While the approach is generic to any trajectory generation method, we showcase it using optimization fabrics....
conference paper 2023
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Botros, Alexander (author), Sadeghi, Armin (author), Wilde, N. (author), Alonso-Mora, J. (author), Smith, Stephen L. (author)
Many problems in robotics seek to simultaneously optimize several competing objectives under constraints. A conventional approach to solving such multi-objective optimization problems is to create a single cost function comprised of the weighted sum of the individual objectives. Solutions to this scalarized optimization problem are Pareto...
conference paper 2023
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Peters, L. (author), Fridovich-Keil, David (author), Ferranti, L. (author), Stachniss, Cyrill (author), Alonso-Mora, J. (author), Laine, Forrest (author)
In multi-agent settings, game theory is a natural framework for describing the strategic interactions of agents whose objectives depend upon one another’s behavior. Trajectory games capture these complex effects by design. In competitive settings, this makes them a more faithful interaction model than traditional “predict then plan” approaches....
conference paper 2022
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Wilde, N. (author), Alonso-Mora, J. (author)
In this paper we study the multi-robot task assignment problem with tasks that appear online and need to be serviced within a fixed time window in an uncertain environment. For example, when deployed in dynamic, human-centered environments, the team of robots may not have perfect information about the environment. Parts of the environment may...
conference paper 2022
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de Vries, J.M. (author), Trevisan, E. (author), van der Toorn, J. (author), Das, T. (author), Ferreira de Brito, B.F. (author), Alonso-Mora, J. (author)
In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive...
conference paper 2022
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Lodel, M. (author), Ferreira de Brito, B.F. (author), Serra Gomez, A. (author), Ferranti, L. (author), Babuska, R. (author), Alonso-Mora, J. (author)
Search missions require motion planning and navigation methods for information gathering that continuously replan based on new observations of the robot's surroundings. Current methods for information gathering, such as Monte Carlo Tree Search, are capable of reasoning over long horizons, but they are computationally expensive. An alternative...
conference paper 2022
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Kronmüller, M. (author), Fielbaum, Andres (author), Alonso-Mora, J. (author)
This paper presents a novel approach to route heterogeneous fleets for flash delivery operations. Flash deliveries offer to serve customers' wishes in minutes. We investigate a scenario that allows to pick up orders at multiple depots with a heterogeneous vehicle fleet leveraging different modes of transportation. We propose the Heterogeneous...
conference paper 2022
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Wang, X. (author), Li, Z. (author), Alonso-Mora, J. (author), Wang, M. (author)
Real-time safety systems are crucial components of intelligent vehicles. This paper introduces a prediction-based collision risk assessment approach on highways. Given a point mass vehicle dynamics system, a stochastic forward reachable set considering two-dimensional motion with vehicle state probability distributions is firstly established. We...
conference paper 2022
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Schuller, Pieter (author), Fielbaum, Andres (author), Alonso-Mora, J. (author)
On-demand ridepooling systems usually need to decide which requests to serve, when the number of vehicles is not enough to transport them all with waiting times that are acceptable by the users. When doing so, they tend to provide uneven service rates, concentrating rejections in some zones within the operation area. In this paper, we propose...
conference paper 2021
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van den Berg, Berend (author), Ferreira de Brito, B.F. (author), Alirezaei, Mohsen (author), Alonso-Mora, J. (author)
The road's geometry strongly influences the path planner's performance, critical for autonomous navigation in high-speed dynamic scenarios (e.g., highways). Hence, this paper introduces the Curvature-aware Rapidly-exploring Random Trees (CA-CL-RRT), whose planning performance is invariant to the road's geometry. We propose a transformation...
conference paper 2021
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Ray, Aaron (author), Pierson, Alyssa (author), Zhu, H. (author), Alonso-Mora, J. (author), Rus, Daniela (author)
We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to shots and locally optimizes online the viewpoint. Given desired shot parameters, the high-level planner uses a...
conference paper 2021
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Kronmüller, M. (author), Fielbaum, Andres (author), Alonso-Mora, J. (author)
The advances in the area of autonomous delivery robots combined with customers' desire for fast delivery, bare potential for same-day delivery operations, specifically with small time windows between ordering and delivery. Most same-day deliveries are operated using a single depot and with vehicles' routes planned and fixed when leaving the...
conference paper 2021
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Zhu, H. (author), Chun, Jen Jen (author), Lawrance, Nicholas R.J. (author), Siegwart, Roland (author), Alonso-Mora, J. (author)
This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface inspection focus on planning a path offline that can provide full coverage of the surface, which inherently assumes the surface information is uniformly distributed...
conference paper 2021
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