Toward Safety-Aware Informative Motion Planning for Legged Robots

26 March 2021

Yukai Gong

Papers citing "Toward Safety-Aware Informative Motion Planning for Legged Robots"

27 / 27 papers shown

Title
Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise Sangli Teng Harry Zhang David Jin A. Jasour Ram Vasudevan Maani Ghaffari Luca Carlone 42 0 0 01 Jun 2025
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups Sangli Teng Tzu-Yuan Lin William Clark Ram Vasudevan Maani Ghaffari AI4CE 161 1 0 05 May 2025
NMPCB: A Lightweight and Safety-Critical Motion Control Framework Longze Zheng Qinghe Liu 86 0 0 03 May 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 124 4 0 03 Mar 2025
Terrain-Aware Model Predictive Control of Heterogeneous Bipedal and Aerial Robot Coordination for Search and Rescue Tasks Abdulaziz Shamsah Jesse Jiang Ziwon Yoon Samuel Coogan Ye Zhao 53 2 0 23 Sep 2024
Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control Abdulaziz Shamsah Krishanu Agarwal Nigam Katta Abirath Raju Shreyas Kousik Ye Zhao 71 3 0 24 Jun 2024
Social Zone as a Barrier Function for Socially-Compliant Robot Navigation Junwoo Jang Maani Ghaffari 61 0 0 23 May 2024
Unified Path and Gait Planning for Safe Bipedal Robot Navigation Chengyang Peng Victor Paredes Ayonga Hereid 74 2 0 26 Mar 2024
Real-time Model Predictive Control with Zonotope-Based Neural Networks for Bipedal Social Navigation Abdulaziz Shamsah Krishanu Agarwal Shreyas Kousik Ye Zhao 60 3 0 25 Mar 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 155 71 0 31 Jan 2024
Socially Acceptable Bipedal Navigation: A Signal-Temporal-Logic- Driven Approach for Safe Locomotion Abdulaziz Shamsah Ye Zhao 80 0 0 15 Oct 2023
Not All Actions Are Created Equal: Bayesian Optimal Experimental Design for Safe and Optimal Nonlinear System Identification Parker Ewen Gitesh Gunjal Joey Wilson Jinsun Liu Challen Enninful Adu Ram Vasudevan 48 0 0 03 Aug 2023
Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control K. S. Narkhede Dhruv A. Thanki Abhijeet Mangesh Kulkarni I. Poulakakis 52 2 0 31 Jul 2023
Adaptive Robotic Information Gathering via Non-Stationary Gaussian Processes Weizhe (Wesley) Chen Roni Khardon Lantao Liu 94 10 0 02 Jun 2023
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots Jaemin Lee Jeeseop Kim Aaron D. Ames 85 10 0 06 May 2023
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization Qiayuan Liao Zhongyu Li A. Thirugnanam Jun Zeng Koushil Sreenath 106 19 0 29 Dec 2022
Safe Path Planning for Polynomial Shape Obstacles via Control Barrier Functions and Logistic Regression Chengyang Peng Octavian A. Donca Ayonga Hereid 52 1 0 07 Oct 2022
SoLo T-DIRL: Socially-Aware Dynamic Local Planner based on Trajectory-Ranked Deep Inverse Reinforcement Learning Yifan Xu Theodor Chakhachiro Tribhi Kathuria Maani Ghaffari 85 3 0 16 Sep 2022
Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation Victor Paredes Ayonga Hereid 80 20 0 02 Aug 2022
Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning Lu Gan J. Grizzle Ryan Eustice Maani Ghaffari 78 29 0 07 Jul 2022
A Sequential MPC Approach to Reactive Planning for Bipedal Robots K. S. Narkhede Abhijeet Mangesh Kulkarni Dhruv A. Thanki I. Poulakakis 93 27 0 30 Apr 2022
Safety-Critical Control with Input Delay in Dynamic Environment Tamás G. Molnár A. Kiss Aaron D. Ames G. Orosz 59 45 0 15 Dec 2021
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments James Hegarty Zhaoyuan Gu J. Warnke Seth Hutchinson Armin Alaghi 108 35 0 23 Oct 2021
Interactive Dynamic Walking: Learning Gait Switching Policies with Generalization Guarantees P. Chand Sushant Veer I. Poulakakis 54 3 0 28 Sep 2021
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions A. Thirugnanam Jun Zeng Koushil Sreenath 138 67 0 25 Sep 2021
Model-Free Safety-Critical Control for Robotic Systems Tamás G. Molnár Ryan K. Cosner Andrew W. Singletary Wyatt Ubellacker Aaron D. Ames 67 89 0 19 Sep 2021
Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments Zhongyu Li Jun Zeng Shuxiao Chen Koushil Sreenath 80 27 0 13 Sep 2021