Zobrazeno 1 - 10
of 17
pro vyhledávání: '"Chi, Xuemin"'
The signed distance field is a popular implicit shape representation in robotics, providing geometric information about objects and obstacles in a form that can easily be combined with control, optimization and learning techniques. Most often, SDFs a
Externí odkaz:
http://arxiv.org/abs/2406.01137
Optimization-based approaches are widely employed to generate optimal robot motions while considering various constraints, such as robot dynamics, collision avoidance, and physical limitations. It is crucial to efficiently solve the optimization prob
Externí odkaz:
http://arxiv.org/abs/2403.10043
We present a fast planning architecture called Hamilton-Jacobi-based bidirectional A* (HJBA*) to solve general tight parking scenarios. The algorithm is a two-layer composed of a high-level HJ-based reachability analysis and a lower-level bidirection
Externí odkaz:
http://arxiv.org/abs/2310.15190
Generating motion for robots that interact with objects of various shapes is a complex challenge, further complicated when the robot's own geometry and multiple desired behaviors are considered. To address this issue, we introduce a new framework bas
Externí odkaz:
http://arxiv.org/abs/2309.08802
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike previous work
Externí odkaz:
http://arxiv.org/abs/2307.08227
Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimization problem with positive distance constraints between robots, which lim
Externí odkaz:
http://arxiv.org/abs/2304.07954
This paper introduces a hierarchical framework that integrates graph search algorithms and model predictive control to facilitate efficient parking maneuvers for Autonomous Vehicles (AVs) in constrained environments. In the high-level planning phase,
Externí odkaz:
http://arxiv.org/abs/2210.13112
This paper proposed a novel method for autonomous parking. Autonomous parking has received a lot of attention because of its convenience, but due to the complex environment and the non-holonomic constraints of vehicle, it is difficult to get a collis
Externí odkaz:
http://arxiv.org/abs/2210.08828
Poster presented at the 147th Meeting of the Acoustical Society of America, New York, N.Y., May 2004.
NIH Grant DC00075.
NIH Grant DC00075.
Externí odkaz:
http://hdl.handle.net/1721.1/31202
Autor:
Chi, Xuemin, 1979
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008.
Includes bibliographical references (p. 107-111).
This project searches for consistent acoustic attributes in a broad set of
Includes bibliographical references (p. 107-111).
This project searches for consistent acoustic attributes in a broad set of
Externí odkaz:
http://hdl.handle.net/1721.1/44402