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199
Efficient distance computation between non-convex objects
- In Proc. IEEE International Conference on Robotics and Automation
, 1994
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Nearness Diagram (ND) Navigation: Collision Avoidance in Troublesome Scenarios
- IEEE Transactions on Robotics and Automation
, 2004
"... This paper addresses the reactive collision avoidance for vehicles that move in very dense, cluttered, and complex scenarios. First, we describe the design of a reactive navigation method that uses a "divide and conquer" strategy based on situations to simplify the difficulty of the naviga ..."
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Cited by 108 (27 self)
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This paper addresses the reactive collision avoidance for vehicles that move in very dense, cluttered, and complex scenarios. First, we describe the design of a reactive navigation method that uses a "divide and conquer" strategy based on situations to simplify the difficulty of the navigation. Many techniques could be used to implement this design (since it is described at symbolic level), leading to new reactive methods that must be able to navigate in arduous environments (as the difficulty of the navigation is simplified). We also propose a geometry-based implementation of our design called the nearness diagram navigation. The advantage of this reactive method is to successfully move robots in troublesome scenarios, where other methods present a high degree of difficulty in navigating. We show experimental results on a real vehicle to validate this research, and a discussion about the advantages and limitations of this new approach.
Elastic Roadmaps: Globally Task-Consistent Motion for Autonomous Mobile Manipulation in Dynamic Environments
, 2002
"... The autonomous execution of manipulation tasks in unstructured, dynamic environments requires the consideration of various motion constraints. Any motion performed during the manipulation task has to satisfy constraints imposed by the task itself, but also has to consider kinematic and dynamic limi ..."
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Cited by 54 (4 self)
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The autonomous execution of manipulation tasks in unstructured, dynamic environments requires the consideration of various motion constraints. Any motion performed during the manipulation task has to satisfy constraints imposed by the task itself, but also has to consider kinematic and dynamic limitations of the manipulator, avoid unpredictably moving obstacles, and observe constraints imposed by the global connectivity of the workspace. Furthermore, the unpredictability of unstructured environments requires the continuous incorporation of feedback to reliably satisfy these constraints. We present a novel feedback motion planning approach, called elastic roadmap framework, capable of satisfying all of the motion constraints that arise in autonomous mobile manipulation and their respective feedback requirements. This framework is validated with simulation experiments using a mobile manipulation platform and a stationary manipulator.
Real-Time Replanning in High-Dimensional Configuration Spaces Using Sets of Homotopic Paths
, 2000
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Finding Locally Optimal, Collision-Free Trajectories with Sequential Convex Optimization
"... Abstract—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 approach are (i) A sequential convex optimization procedure, which penalizes collisions with a hinge loss and increases ..."
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Cited by 31 (14 self)
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Abstract—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 approach are (i) A sequential convex optimization procedure, which penalizes collisions with a hinge loss and increases the penalty coefficients in an outer loop as necessary. (ii) An efficient formulation of the no-collisions constraint that directly considers continuous-time safety and enables the algorithm to reliably solve motion planning problems, including problems involving thin and complex obstacles. We benchmarked our algorithm against several other motion planning algorithms, solving a suite of 7-degree-of-freedom (DOF) arm-planning problems and 18-DOF full-body planning problems. We compared against sampling-based planners from OMPL, and we also compared to CHOMP, a leading approach for trajectory optimization. Our algorithm was faster than the alternatives, solved more problems, and yielded higher quality paths. Experimental evaluation on the following additional problem types also confirmed the speed and effectiveness of our approach: (i) Planning foot placements with 34 degrees of freedom (28 joints + 6 DOF pose) of the Atlas humanoid robot as it maintains static stability and has to negotiate environmental constraints. (ii) Industrial box picking. (iii) Real-world motion planning for the PR2 that requires considering all degrees of freedom at the same time. Fig. 1. Several problem settings were we have used our algorithm for motion planning. Top left: planning an arm trajectory for the PR2 in simulation, in a benchmark problem. Top right: PR2 opening a door with a full-body motion. Bottom left: industrial robot picking boxes, obeying an orientation constraint on the end effector. Bottom right: humanoid robot model (DRC/Atlas) ducking underneath an obstacle while obeying static stability constraints. I.
Interactive Navigation of Multiple Agents in Crowded Environments
- SYMPOSIUM ON INTERACTIVE 3D GRAPHICS AND GAMES
, 2008
"... We present a novel approach for interactive navigation and planning of multiple agents in crowded scenes with moving obstacles. Our formulation uses a precomputed roadmap that provides macroscopic, global connectivity for wayfinding and combines it with fast and localized navigation for each agent. ..."
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Cited by 31 (3 self)
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We present a novel approach for interactive navigation and planning of multiple agents in crowded scenes with moving obstacles. Our formulation uses a precomputed roadmap that provides macroscopic, global connectivity for wayfinding and combines it with fast and localized navigation for each agent. At runtime, each agent senses the environment independently and computes a collision-free path based on an extended "Velocity Obstacles" concept. Furthermore, our algorithm ensures that each agent exhibits no oscillatory behaviors. We have tested the performance of our algorithm in several challenging scenarios with a high density of virtual agents. In practice, the algorithm performance scales almost linearly with the number of agents and can run at interactive rates on multi-core processors.
Real-time path planning using harmonic potentials in dynamic environment
- in Proceedings of the IEEE International Conference on Robotics and Automation
, 1997
"... federQnsl.mit.edu, jjsQmit.edu Motivated by fluid analogies, artificial harmonic po-tentials can eliminate local m in ima problems in robot path planning. I n this paper, simple analytical solu-t ions t o planar harmonic potentials are derived us-ing tools f r o m fluid mechanics, and are applied t ..."
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Cited by 28 (0 self)
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federQnsl.mit.edu, jjsQmit.edu Motivated by fluid analogies, artificial harmonic po-tentials can eliminate local m in ima problems in robot path planning. I n this paper, simple analytical solu-t ions t o planar harmonic potentials are derived us-ing tools f r o m fluid mechanics, and are applied t o two-dimensional planning among multiple moving ob-stacles. These closed-form solutions enable real-time computation to be readily achieved. 1
Human-centered robotics and interactive haptic simulation
- International Journal of Robotics Research
, 1992
"... A new field of robotics is emerging. Robots are today moving towards applications beyond the structured environment of a manufacturing plant. They are making their way into the everyday world that people inhabit. The paper focuses on models, strategies, and algorithms associated with the autonomous ..."
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Cited by 24 (1 self)
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A new field of robotics is emerging. Robots are today moving towards applications beyond the structured environment of a manufacturing plant. They are making their way into the everyday world that people inhabit. The paper focuses on models, strategies, and algorithms associated with the autonomous behaviors needed for robots to work, assist, and cooperate with humans. In addition to the new capabilities they bring to the physical robot, these models and algorithms and more generally the body of developments in robotics is having a significant impact on the virtual world. Haptic interaction with an accurate dynamic simulation provides unique insights into the real-world behaviors of physical systems. The potential applications of this emerging technology include virtual prototyping, animation, surgery, robotics, cooperative design, and education among many others. Haptics is one area where the computational requirement associated with the resolution in real-time of the dynamics and contact forces of the virtual environment is particularly challenging. The paper describes various methodologies and algorithms that address the computational challenges associated with interactive simulations involving multiple contacts and impacts between human-like structures. 1.
Feature-Based Prediction of Trajectories for Socially Compliant Navigation
"... Abstract—Mobile robots that operate in a shared environment with humans need the ability to predict the movements of people to better plan their navigation actions. In this paper, we present a novel approach to predict the movements of pedestrians. Our method reasons about entire trajectories that a ..."
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Cited by 24 (3 self)
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Abstract—Mobile robots that operate in a shared environment with humans need the ability to predict the movements of people to better plan their navigation actions. In this paper, we present a novel approach to predict the movements of pedestrians. Our method reasons about entire trajectories that arise from interactions between people in navigation tasks. It applies a maximum entropy learning method based on features that capture relevant aspects of the trajectories to determine the probability distribution that underlies human navigation behavior. Hence, our approach can be used by mobile robots to predict forthcoming interactions with pedestrians and thus react in a socially compliant way. In extensive experiments, we evaluate the capability and accuracy of our approach and demonstrate that our algorithm outperforms the popular social forces method, a state-of-the-art approach. Furthermore, we show how our algorithm can be used for autonomous robot navigation using a real robot. I.
Improved Rover State Estimation in Challenging Terrain
- Autonomous Robots
, 1998
"... . Given ambitious mission objectives and long delay times between command-uplink#datadownlink sessions, increased autonomy is required for planetary rovers. Speci#cally NASA's planned 2003 and 2005 Mars rover missions must incorporate increased autonomy if their desired mission goals are to be ..."
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Cited by 23 (10 self)
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. Given ambitious mission objectives and long delay times between command-uplink#datadownlink sessions, increased autonomy is required for planetary rovers. Speci#cally NASA's planned 2003 and 2005 Mars rover missions must incorporate increased autonomy if their desired mission goals are to be realized. Increased autonomy, including autonomous path planning and navigation to user designated goals, relies on good quality estimates of the rover's state, e.g., its position and orientation relative to some initial reference frame. The challenging terrain over which the rover will necessarily traverse tends to seriously degrade a dead-reckoned state estimate, given severe wheel slip and#or interaction with obstacles. In this paper, we present the implementation of a complete rover navigation system. First, the system is able to adaptively construct semi-sparse terrain maps based on the current ground texture and distances to possible nearby obstacles. Second, the rover is able to match succ...
