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2002.01591
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Reachable Sets for Safe, Real-Time Manipulator Trajectory Design
5 February 2020
P. Holmes
Shreyas Kousik
Bohao Zhang
Daphna Raz
Corina Barbalata
Matthew Johnson-Roberson
Ram Vasudevan
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Papers citing
"Reachable Sets for Safe, Real-Time Manipulator Trajectory Design"
26 / 26 papers shown
Threshold Strategy for Leaking Corner-Free Hamilton-Jacobi Reachability with Decomposed Computations
Chong He
Mugilan Mariappan
Keval Vora
Mo Chen
286
0
0
15 May 2025
Conformalized Reachable Sets for Obstacle Avoidance With Spheres
IEEE International Conference on Robotics and Automation (ICRA), 2024
Yongseok Kwon
Jonathan Michaux
Seth Isaacson
Bohao Zhang
Matthew Ejakov
Katherine A. Skinner
Ram Vasudevan
190
6
0
13 Oct 2024
RAIL: Reachability-Aided Imitation Learning for Safe Policy Execution
IEEE International Conference on Robotics and Automation (ICRA), 2024
Wonsuhk Jung
Dennis Anthony
Utkarsh Aashu Mishra
Nadun Ranawaka Arachchige
Matthew Bronars
Danfei Xu
Shreyas Kousik
288
2
0
28 Sep 2024
Let's Make a Splan: Risk-Aware Trajectory Optimization in a Normalized Gaussian Splat
Jonathan Michaux
Seth Isaacson
Challen Enninful Adu
Adam Li
Rahul Kashyap Swayampakula
Parker Ewen
Sean Rice
Katherine A. Skinner
Ram Vasudevan
3DGS
246
8
0
25 Sep 2024
ZAPP! Zonotope Agreement of Prediction and Planning for Continuous-Time Collision Avoidance with Discrete-Time Dynamics
Luca Paparusso
Shreyas Kousik
Edward Schmerling
Francesco Braghin
Marco Pavone
216
3
0
03 Jun 2024
A Differentiable Dynamic Modeling Approach to Integrated Motion Planning and Actuator Physical Design for Mobile Manipulators
Zehui Lu
Yebin Wang
245
5
0
01 May 2024
Efficient Motion Planning for Manipulators with Control Barrier Function-Induced Neural Controller
Mingxin Yu
Chenning Yu
M.-Mahdi Naddaf-Sh
Devesh Upadhyay
Sicun Gao
Chuchu Fan
243
8
0
01 Apr 2024
Goal-Reaching Trajectory Design Near Danger with Piecewise Affine Reach-avoid Computation
Long Kiu Chung
Wonsuhk Jung
Chuizheng Kong
Shreyas Kousik
388
3
0
23 Feb 2024
Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres
Jonathan Michaux
Adam Li
Qingyi Chen
Che Chen
Bohao Zhang
Ram Vasudevan
225
9
0
13 Feb 2024
Serving Time: Real-Time, Safe Motion Planning and Control for Manipulation of Unsecured Objects
IEEE Robotics and Automation Letters (RA-L), 2023
Zachary Brei
Jonathan Michaux
Bohao Zhang
P. Holmes
Ram Vasudevan
135
10
0
06 Sep 2023
Spatio-Temporal Avoidance of Predicted Occupancy in Human-Robot Collaboration
IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2023
Jared Flowers
M. Faroni
G. Wiens
N. Pedrocchi
129
4
0
08 Jul 2023
Reachability-based Trajectory Design with Neural Implicit Safety Constraints
Jonathan Michaux
Qingyi Chen
Yong-Kwan Kwon
Ram Vasudevan
122
15
0
14 Feb 2023
Can't Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty
Jonathan Michaux
P. Holmes
Bohao Zhang
Cheng Chen
Baiyue Wang
Shrey Sahgal
Tian Zhang
Sidhartha Dey
Shreyas Kousik
Ram Vasudevan
144
19
0
30 Jan 2023
REFINE: Reachability-based Trajectory Design using Robust Feedback Linearization and Zonotopes
IEEE Transactions on robotics (TRO), 2022
Jinsun Liu
Y. Shao
Lucas Lymburner
Han Qin
Vishrut Kaushik
Lena Trang
Ruiyang Wang
V. Ivanovic
H. E. Tseng
Ram Vasudevan
104
21
0
22 Nov 2022
Learning Autonomous Vehicle Safety Concepts from Demonstrations
American Control Conference (ACC), 2022
Karen Leung
Sushant Veer
Edward Schmerling
Marco Pavone
147
11
0
06 Oct 2022
An Empirical Analysis of the Use of Real-Time Reachability for the Safety Assurance of Autonomous Vehicles
Social Science Research Network (SSRN), 2022
Patrick Musau
Nathaniel P. Hamilton
Diego Manzanas Lopez
Preston K. Robinette
Taylor T. Johnson
136
0
0
03 May 2022
Coordinated Pose Control of Mobile Manipulation with an Unstable Bikebot Platform
IEEE/ASME transactions on mechatronics (TAM), 2022
Feng Han
A. Jelvani
J. Yi
Tao Liu
70
8
0
19 Mar 2022
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments
IEEE Transactions on robotics (TRO), 2021
James Hegarty
Zhaoyuan Gu
J. Warnke
Seth Hutchinson
Armin Alaghi
318
42
0
23 Oct 2021
Safe Value Functions
IEEE Transactions on Automatic Control (IEEE TAC), 2021
P. Massiani
Steve Heim
Friedrich Solowjow
Sebastian Trimpe
293
17
0
25 May 2021
A Quadratic Programming Approach to Manipulation in Real-Time Using Modular Robots
International Journal of Robotic Computing (JRC), 2021
Chao Liu
Mark H. Yim
75
4
0
06 Apr 2021
Reachability-based Trajectory Safeguard (RTS): A Safe and Fast Reinforcement Learning Safety Layer for Continuous Control
IEEE Robotics and Automation Letters (RA-L), 2020
Y. Shao
Chao Chen
Shreyas Kousik
Ram Vasudevan
239
69
0
17 Nov 2020
DeepReach: A Deep Learning Approach to High-Dimensional Reachability
Somil Bansal
Claire Tomlin
293
209
0
04 Nov 2020
Trip Recovery in Lower-Limb Prostheses using Reachable Sets of Predicted Human Motion
S. M. Danforth
P. Holmes
Ram Vasudevan
68
0
0
21 Oct 2020
Sampling-based Reachability Analysis: A Random Set Theory Approach with Adversarial Sampling
T. Lew
Marco Pavone
AAML
279
63
0
24 Aug 2020
Safe, Optimal, Real-time Trajectory Planning with a Parallel Constrained Bernstein Algorithm
IEEE Transactions on robotics (IEEE Trans. Robot.), 2020
Shreyas Kousik
Bohao Zhang
Pengcheng Zhao
Ram Vasudevan
137
14
0
03 Mar 2020
Bridging the Gap Between Safety and Real-Time Performance in Receding-Horizon Trajectory Design for Mobile Robots
Shreyas Kousik
S. Vaskov
Fan Bu
Matthew Johnson-Roberson
Ram Vasudevan
178
128
0
18 Sep 2018
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