Oscar Groot
12 records found
1
Authored
Autonomous mobile robots require predictions of human motion to plan a safe trajectory that avoids them. Because human motion cannot be predicted exactly, future trajectories are typically inferred from real-world data via learning-based approximations. These approximations pr ...
The successful integration of autonomous robots in real-world environments strongly depends on their ability to reason from context and take socially acceptable actions. Current autonomous navigation systems mainly rely on geometric information and hard-coded rules to induce s ...
This paper presents a rule-compliant trajectory optimization method for the guidance and control of autonomous surface vessels. The method builds on Model Predictive Contouring Control and incorporates the International Regulations for Preventing Collisions at Sea - known as C ...
In this work we consider the problem of cooperative end-effector control between heterogeneous fully actuated agents when varying-time delays and/or packet loss are present. We couple agents via outputs encoded with task-space coordinates and velocities that are transformed in ...
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by incorporating chance constraints into the pla ...