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ICRA 2023

1655 papers · 0 AI summaries · 2023

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1642 result(s) for “Integrated Planning and Control” Page 1 of 33
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Information-Theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning
Daniel Larsson, Arash Asgharivaskasi, Jaein Lim, Nikolay Atanasov, Panagiotis Tsiotras
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Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression
Chengyang Peng, Octavian Donca, Guillermo Castillo, Ayonga Hereid
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Integrated Vector Field and Backstepping Control for Quadcopters
Arthur Henrique Dias Nunes, Guilherme V. Raffo, Luciano Pimenta
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STD-Trees: Spatio-Temporal Deformable Trees for Multirotors Kinodynamic Planning
Hongkai Ye, Chao Xu, Fei Gao
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Interaction Control of a Robotic Manipulator with the Surface of Deformable Object
Athanasios Dometios, Costas S. Tzafestas
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Planning with Occluded Traffic Agents Using Bi-Level Variational Occlusion Models
Filippos Christianos, Peter Karkus, Boris Ivanovic, Stefano V. Albrecht, Marco Pavone
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Online Whole-Body Motion Planning for Quadrotor Using Multi-Resolution Search
Yunfan Ren, Siqi Liang, Fangcheng Zhu, Guozheng Lu, Fu Zhang
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Sampling-Based Path Planning under Temporal Logic Constraints with Real-Time Adaptation
Yizhou Chen, Ruoyu Wang, Xinyi Wang, Ben M. Chen
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Policy Guided Lazy Search with Feedback for Task and Motion Planning
Mohamed Khodeir, Atharv Sonwane, Ruthrash Hari, Florian Shkurti
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Overload Clutch with Integrated Torque Sensing and Decoupling Detection for Collision Tolerant Hybrid High-Speed Industrial Cobots
Frederik Ostyn, Bram Vanderborght, Guillaume Crevecoeur
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Multimodal Time Series Learning of Robots Based on Distributed and Integrated Modalities: Verification with a Simulator and Actual Robots
Hideyuki Ichiwara, Hiroshi Ito, Kenjiro Yamamoto, Hiroki Mori, Tetsuya Ogata
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Experimental Study on Accurate Calibration for Industrial Robot Via Integrated Extended Kalman and Beetle Antennae Search
Zhibing Li, Shuai Li, Xin Luo
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Constrained Gaussian Processes with Integrated Kernels for Long-Horizon Prediction of Dense Pedestrian Crowd Flows
Stefan H. Kiss, Kavindie Katuwandeniya, Alen Alempijevic, Teresa A. Vidal-Calleja
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Tendon-Driven Soft Robotic Gripper with Integrated Ripeness Sensing for Blackberry Harvesting
Alex Qiu, Claire Young, Anthony Gunderman, Milad Azizkhani, Yue Chen, Ai-Ping Hu
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Foot Gestures to Control the Grasping of a Surgical Robot
YIJUN CHENG, yanpei huang, Ziwei Wang, etienne burdet
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Real-Time Unified Trajectory Planning and Optimal Control for Urban Autonomous Driving under Static and Dynamic Obstacle Constraints
Rowan Dempster, Mohammad Alsharman, Derek Rayside, William Melek
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Interaction-Aware Trajectory Planning for Autonomous Vehicles with Analytic Integration of Neural Networks into Model Predictive Control
Piyush Gupta, David Isele, Donggun Lee, Sangjae Bae
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BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
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Interactive Multi-Modal Motion Planning with Branch Model Predictive Control
Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron Ames
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Learning Agile Flight Maneuvers: Deep SE(3) Motion Planning and Control for Quadrotors
Yixiao Wang, Bingheng Wang, Shenning Zhang, Han Wei Sia, Lin Zhao
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Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals
Lucas Michael Streichenberg, Elia Trevisan, Jen Jen Chung, Roland Siegwart, Javier Alonso-Mora
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Operating with Inaccurate Models by Integrating Control-Level Discrepancy Information into Planning
Ellis Ratner, Claire Tomlin, Maxim Likhachev
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Neural Optimal Control Using Learned System Dynamics
Kazim Selim Engin, Volkan Isler
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Design, Control, and Experimental Evaluation of a Novel Robotic Glove System for Patients with Brachial Plexus Injuries
Wenda Xu, Yunfei Guo, Cesar Bravo, Pinhas Ben-Tzvi
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Robotic Fiber Threading from a Gel-Like Substance Based on Impedance Control with Force Tracking
Houari Bettahar, P. A. Diluka Harischandra, Quan Zhou
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Cautious Planning with Incremental Symbolic Perception: Designing Verified Reactive Driving Maneuvers
Disha Kamale, Sofie Haesaert, Cristian Ioan Vasile
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3D-Printed Adaptive Microgripper Driven by Thin-Film NiTi Actuators
Sukjun Kim, Sarah Bergbreiter
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Density Planner: Minimizing Collision Risk in Motion Planning with Dynamic Obstacles Using Density-Based Reachability
Laura Lützow, Yue Meng, Andres Chavez Armijos, Chuchu Fan
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AeriaLPiPS: A Local Planner for Aerial Vehicles with Geometric Collision Checking
Justin Smith, Patricio Vela
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DQN-Based On-Line Path Planning Method for Automatic Navigation of Miniature Robots
Jialin JIANG, Lidong Yang, Li Zhang
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Hierarchical Policy Blending As Inference for Reactive Robot Control
Kay Hansel, Julen Urain De Jesus, Jan Peters, Georgia Chalvatzaki
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Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain
Jiunn-Kai Huang, J.W Grizzle
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Distributing Collaborative Multi-Robot Planning with Gaussian Belief Propagation
Aalok Patwardhan, Riku Murai, Andrew J Davison
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Distributed Potential iLQR: Scalable Game-Theoretic Trajectory Planning for Multi-Agent Interactions
Zach Williams, Jushan Chen, Negar Mehr
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A Consistency-Based Loss for Deep Odometry through Uncertainty Propagation
Hamed Damirchi, Rooholla Khorrambakht, Hamid D. Taghirad, Behzad Moshiri
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Manipulation Planning Using Wave Variables
Pitakwatchara, Phongsaen,Arunrat, Jetnipit
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Experimental Workflow Implementation for Automatic Detection of Filament Deviation in 3D Robotic Printing Process
Xinrui YANG, Othman Lakhal, Abdelkader BELAROUCI, Kamal Youcef-Toumi, Rochdi Merzouki
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A Sequential MPC Approach to Reactive Planning for Bipedal Robots Using Safe Corridors in Highly Cluttered Environments
Kunal Sanjay Narkhede, Abhijeet Mangesh Kulkarni, Dhruv Ashwinkumar Thanki, Ioannis Poulakakis
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Multi-Robot Mission Planning in Dynamic Semantic Environments
Samarth Kalluraya, George J. Pappas, Yiannis Kantaros
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Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments
Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron Ames
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Robotic Navigation Autonomy for Subretinal Injection Via Intelligent Real-Time Virtual iOCT Volume Slicing
Shervin Dehghani, Michael Sommersperger, Peiyao Zhang, Alejandro Martin-Gomez, Benjamin Busam, Peter Gehlbach, Nassir Navab, M. Ali Nasseri, Ioan Iulian Iordachita
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A Reachability-Based Spatio-Temporal Sampling Strategy for Kinodynamic Motion Planning
Yongxing Tang, Zhanxia Zhu, Hongwen Zhang
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A CoppeliaSim Dynamic Simulator for the Da Vinci Research Kit
Marco Ferro, Alessandro Mirante, Fanny Ficuciello, Marilena Vendittelli
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CPG-Based Motion Planning of Hybrid Underwater Hexapod Robot for Wall Climbing and Transition
Ma, Feiyu,Yan, Weisheng,chen, lepeng,Cui, Rongxin
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Demonstration-Guided Optimal Control for Long-Term Non-Prehensile Planar Manipulation
Teng Xue, Hakan Girgin, Teguh Santoso Lembono, Sylvain Calinon
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Closing the Planning-Learning Loop with Application to Autonomous Driving
Panpan Cai, David Hsu
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Statistical Safety and Robustness Guarantees for Feedback Motion Planning of Unknown Underactuated Stochastic Systems
Craig Knuth, Glen Chou, Jamie Reese, Joseph Moore
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S2worm: A Fast-Moving Untethered Insect-Scale Robot with 2-DoF Transmission Mechanism
Yide Liu, Yanhong Chen, Bo Feng, Dongqi Wang, Taishan Liu, Haofei Zhou, Hua Li, Shaoxing Qu, Wei Yang
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A Coarse-To-Fine Framework for Dual-Arm Manipulation of Deformable Linear Objects with Whole-Body Obstacle Avoidance
Mingrui Yu, Kangchen Lv, Changhao Wang, Masayoshi Tomizuka, Xiang LI
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Covariance Steering for Uncertain Contact-rich Systems
Yuki Shirai, Devesh Jha, Arvind Raghunathan
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