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arXiv 2025年

作者： Xu, Ling Baryshnikov, Yuliy Sung, Cynthia General Robotics Automation Sensing & Perception Lab University of Pennsylvania PhiladelphiaPA United States Department of Mathematics University of Illinois Urbana-Champaign UrbanaIL United States

This paper addresses the Dubins path planning problem for vehicles in 3D space. In particular, we consider the problem of computing CSC paths – paths that consist of a circular arc (C) followed by a straight segment (S) followed by a circular arc (C). These paths are useful for vehicles such as fixed-wing aircraft and underwater submersibles that are subject to lower bounds on turn radius. We present a new parameterization that reduces the 3D CSC planning problem to a search over 2 variables, thus lowering search complexity, while also providing gradients that assist that search. We use these equations with a numerical solver to explore numbers and types of solutions computed for a variety of planar and 3D scenarios. Our method successfully computes CSC paths for the large majority of test cases, indicating that it could be useful for future generation of robust, efficient curvature-constrained trajectories. Copyright © 2025, The Authors. All rights reserved.

关键词： Motion planning

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Cooperative Localization and Tracking in Distributed Robot-Sensor Networks

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Tsinghua Science and Technology 2005年第1期10卷 91-101页

作者：张帆 Guilherme S.Pereira Vijay Kumar General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA

This paper addresses the problem of real-time position and orientation estimation of networked mobile robots in two-dimensional Euclidean space with simultaneous tracking of a rigid unknown object based on exteroceptive sensory information extracted from distributed vision systems. The sufficient and necessary conditions for team localization are proposed. A localization and object tracking approach based on statistical operators and graph searching algorithms is presented for a team of robots localized with het- erogeneous sensors. The approach was implemented in an experimental platform consisting of car-like mobile robots equipped with omnidirectional video cameras and IEEE 802.11b wireless networking. The experimental results validate the approach.

关键词： cooperative localization multi-robot formation distributed sensor network sensor data fusion

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Visual inertial odometry swarm: An autonomous swarm of vision-based quadrotors

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IEEE robotics and automation Letters 2018年第3期3卷 1801-1807页

作者： Weinstein, Aaron Cho, Adam Loianno, Giuseppe Kumar, Vijay General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania PhiladelphiaPA19104 United States

In this letter, we present the system infrastructure for a swarm of quadrotors, which perform all estimation on board using monocular visual inertial odometry. This is a novel system since it does not require an external motion capture system or GPS and is able to execute formation tasks without inter-robot collisions. The swarm can be deployed in nearly any indoor or outdoor scenario and is scalable to higher numbers of robots. We discuss the system architecture, estimation, planning, and control for the multirobot system. The robustness and scalability of the approach is validated in both indoor and outdoor environments with up to 12 quadrotors. © 2016 IEEE.

关键词： Antennas

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Human robot interaction: application to smart wheelchairs

Human robot interaction: application to smart wheelchairs

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IEEE International Conference on robotics and automation (ICRA)

作者： R.S. Rao K. Conn S.H. Jung J. Katupitiya T. Kientz V. Kumar J. Ostrowski S. Patel C.J. Taylor General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia USA General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia USA University of Kentucky General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia

Addresses the problem of human robot interaction with application to the design of assistive devices. We describe the design and development of a prototype of a smart wheelchair that can be commanded by a rider. Specifically, we focus on (a) the vision-based human interaction interface; (b) the suite of sensors on the chair, and (c) the software architecture and the control algorithms used to control the chair.

关键词： Human robot interaction Wheelchairs Intelligent sensors Robot sensing systems Mobile robots Intelligent robots robotics and automation Prototypes Control systems Computer interfaces

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Active perception using Neural Radiance Fields

Active Perception using Neural Radiance Fields

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American Control Conference (ACC)

作者： H. Siming Christopher D. Hsu Dexter Ong Yifei Simon Shao Pratik Chaudhari General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

We study active perception from first principles to argue that an autonomous agent performing active perception should maximize the mutual information that past observations posses about future ones. Doing so requires (a) a representation of the scene that summarizes past observations and the ability to update this representation to incorporate new observations (state estimation and mapping), (b) the ability to synthesize new observations of the scene (a generative model), and (c) the ability to select control trajectories that maximize predictive information (planning). This motivates a neural radiance field (NeRF)-like representation which captures photometric, geometric and semantic properties of the scene grounded. This representation is well-suited to synthesizing new observations from different viewpoints. And thereby, a sampling-based planner can be used to calculate the predictive information from synthetic observations along dynamically-feasible trajectories. We use active perception for exploring cluttered indoor environments and employ a notion of semantic uncertainty to check for the successful completion of an exploration task. We demonstrate these ideas via simulation in realistic 3D indoor environments 1 1 Code is available at https://***/grasp-1yd/Active-perception-using-Neural-Radiance-Fields. Full manuscript is available at https://***/abs/2310.09892.

关键词： Uncertainty Three-dimensional displays Semantics Active perception Predictive models Neural radiance field Trajectory

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Identifying Driver Interactions via Conditional Behavior Prediction

Identifying Driver Interactions via Conditional Behavior Pre...

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IEEE International Conference on robotics and automation (ICRA)

作者： Ekaterina Tolstaya Reza Mahjourian Carlton Downey Balakrishnan Vadarajan Benjamin Sapp Dragomir Anguelov General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Waymo

Interactive driving scenarios, such as lane changes, merges and unprotected turns, are some of the most challenging situations for autonomous driving. Planning in interactive scenarios requires accurately modeling the reactions of other agents to different future actions of the ego agent. We develop end-to-end models for conditional behavior prediction (CBP) that take as an input a query future trajectory for an ego-agent, and predict distributions over future trajectories for other agents conditioned on the query. Leveraging such a model, we develop a general-purpose agent interactivity score derived from probabilistic first principles. The interactivity score allows us to find interesting interactive scenarios for training and evaluating behavior prediction models. We further demonstrate that the proposed score is effective for agent prioritization under computational budget constraints.

关键词： Training automation Computational modeling Conferences Predictive models Probabilistic logic Trajectory

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A hierarchical, modal approach to hybrid systems control of autonomous robots

A hierarchical, modal approach to hybrid systems control of ...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： K.A. McIsaac A.K. Das J.M. Esposito J.P. Ostrowski General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA

We propose a hierarchical structure for control of autonomous robots. We draw on ideas from the hybrid systems theory, which describe systems governed by a discrete set of continuous modes of operation and transitions between these modes. We aim to enable rapid development of test applications and to allow easy performance upgrades. Our structure is based on the creation of agents to process inputs and outputs at the highest level of abstraction in the system (the application domain). We describe our implementation of this structure in two systems: a nonholonomic car-like robot and a quadrupedal entertainment robot. Both examples demonstrate how abstraction of planning away from the implementation details of the robot enables rapid development.

关键词： Robot control Control systems robotics and automation Automatic control Vehicle dynamics Robot sensing systems Legged locomotion Differential equations Logic Mathematical model

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Dynamic simulation for grasping and whole arm manipulation

Dynamic simulation for grasping and whole arm manipulation

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IEEE International Conference on robotics and automation (ICRA)

作者： P. Song M. Yashima V. Kumar General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA

We propose a novel approach to dynamic simulation of grasps that overcomes difficulties due to inconsistencies in the forward dynamics problem. The key idea in the paper is a minimalist model of the contact compliance and the use of this model in situations when the performance of the rigid body model is not satisfactory. Our general framework allows for online diagnostics that enable the automatic switching between models to maximize efficiency while avoiding ambiguous situations. We illustrate the basic ideas by simulating the dynamics of several whole arm grasps.

关键词： Manipulator dynamics Predictive models Deformable models robotics and automation Analytical models Legged locomotion Equations Switches Robot sensing systems Laboratories

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New insights into quasi-static and dynamic omnidirectional quadrupedal walking

New insights into quasi-static and dynamic omnidirectional q...

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)

作者： S. Chitta J.P. Ostrowski General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA

This paper presents several new insights and experimental results on the problem of generating omnidirectional walking gaits for quadrupedal robots. For statically stable gaits, by placing some minor restrictions on how the leg motions are generated, we develop an easily computable classification of the best gait patterns (leg phasings) to be used for any given motion. This simple geometric construction allows easy generation of stable, omnidirectional walking gaits for any quadruped satisfying only some very weak assumptions about the location of the center of mass relative to the workspace of the legs. It is also well-suited to a modular approach in which the control of individual legs is decentralized. We also implement an omnidirectional dynamic trot gait using a similar approach. Transitions involving a change in the direction of motion of the robot are initiated at one of two fixed points of the foot placement curves for each leg in all gaits. Experimental data is presented showing the effectiveness of these techniques.

关键词： Legged locomotion Leg robotics and automation Robot sensing systems Laboratories Foot Pattern analysis Tracking Springs

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Real-time vision-based control of a nonholonomic mobile robot

Real-time vision-based control of a nonholonomic mobile robo...

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IEEE International Conference on robotics and automation (ICRA)

作者： A.K. Das R. Fierro V. Kumar B. Southall J. Spletzer C.J. Taylor General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA

ISBN: (纸本)0780365763

This paper considers the problem of vision-based control of a nonholonomic mobile robot. We describe the design and implementation of real-time estimation and control algorithms on a car-like robot platform using a single omni-directional camera as a sensor without explicit use of odometry. We provide experimental results for each of these vision-based control objects. The algorithms are packaged as control modes and can be combined hierarchically to perform higher level tasks involving multiple robots.

关键词： Mobile robots Robot vision systems Cameras Motion control Automatic control Control systems robotics and automation Vehicles Servomechanisms Proportional control

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