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Found 11 papers, 9 papers with code
Mapping High-level Semantic Regions in Indoor Environments without Object Recognition
Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments.
Connected Autonomous Vehicle Motion Planning with Video Predictions from Smart, Self-Supervised Infrastructure
Connected autonomous vehicles (CAVs) promise to enhance safety, efficiency, and sustainability in urban transportation.
Safe Reinforcement Learning Using Black-Box Reachability Analysis
Reinforcement learning (RL) is capable of sophisticated motion planning and control for robots in uncertain environments.
Ellipsotopes: Combining Ellipsoids and Zonotopes for Reachability Analysis and Fault Detection
This paper introduces ellipsotopes, a set representation that is closed under affine maps, Minkowski sums, and intersections.
Constrained Feedforward Neural Network Training via Reachability Analysis
This is because it remains an open challenge to train a neural network to obey safety constraints.
Safe, Optimal, Real-time Trajectory Planning with a Parallel Constrained Bernstein Algorithm
To move through the world, mobile robots typically use a receding-horizon strategy, wherein they execute an old plan while computing a new plan to incorporate new sensor information.
Optimization and Control Robotics
Reachable Sets for Safe, Real-Time Manipulator Trajectory Design
At runtime, in each receding-horizon planning iteration, ARMTD constructs a reachable set of the entire arm in workspace and intersects it with obstacles to generate sub-differentiable and provably-conservative collision-avoidance constraints on the trajectory parameters.
Robotics
Technical Report: Safe, Aggressive Quadrotor Flight via Reachability-based Trajectory Design
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments.
Robotics Systems and Control
Guaranteed Safe Reachability-based Trajectory Design for a High-Fidelity Model of an Autonomous Passenger Vehicle
Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons.
Systems and Control
Bridging the Gap Between Safety and Real-Time Performance in Receding-Horizon Trajectory Design for Mobile Robots
At runtime, the FRS is used to map obstacles to the space of parameterized trajectories, which allows RTD to select a safe trajectory at every planning iteration.
Robotics Systems and Control
Safe Trajectory Synthesis for Autonomous Driving in Unforeseen Environments
Path planning for autonomous vehicles in arbitrary environments requires a guarantee of safety, but this can be impractical to ensure in real-time when the vehicle is described with a high-fidelity model.
Systems and Control Robotics
