Reactive Cooperative Manipulation based on Set Primitives and Circular Fields

Laha, Riddhiman; Figueredo, Luis Felipe da Cruz; Vrabel, Juraj; Swikir, Abdalla; Haddadin, Sami

doi:10.1109/icra48506.2021.9561985

Cited by 16 publications

(3 citation statements)

References 41 publications

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“…direction while maintaining a constant speed. Subsequently, the papers [109]- [111] gradually improve the circular field to adapt to different environments. Furthermore, in [112], a circular field predictive prediction approach is designed, combining local reactive control with global motion planning, resulting in significant improvements in trajectory quality.…”

Section: B Vector Field Controlmentioning

confidence: 99%

Distributed Control for a Multiagent System to Pass Through a Connected Quadrangle Virtual Tube

Gao

Bai

Quan

2023

IEEE Trans. Control Netw. Syst.

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This survey presents a comprehensive review of various methods and algorithms related to passing-through control of multi-robot systems in cluttered environments. Numerous studies have investigated this area, and we identify several avenues for enhancing existing methods. This survey describes some models of robots and commonly considered control objectives, followed by an in-depth analysis of four types of algorithms that can be employed for passing-through control: leader-follower formation control, multi-robot trajectory planning, control-based methods, and virtual tube planning and control. Furthermore, we conduct a comparative analysis of these techniques and provide some subjective and general evaluations.

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Section: B Vector Field Controlmentioning

confidence: 99%

Distributed Control for a Multiagent System to Pass Through a Connected Quadrangle Virtual Tube

Gao

Bai

Quan

2023

IEEE Trans. Control Netw. Syst.

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“…Finally, to describe the screw linear interpolation that connects two points x 1 and x 2 , and to find points in the path x(τ ) : [0, 1] → Spin(3) R 3 with x(0) = x 1 and x(1) = x 2 , we exploit (2). First, we map x 2 following the geodesic on Spin(3) R 3 through x 1 onto the tangent space at x 1 .…”

Section: A Problem and Mathematical Backgroundmentioning

confidence: 99%

“…1 where the robot needs to generate a sequence of plans to grasp books from a user and place them in different available spaces in the cupboard while avoiding collision with the cluttered cupboard and dynamic objects in the scene. Designing plans for elaborate tasks such as this requires experienced roboticists to conceptualize and preprogram the robot [1], [2]. It is even more time consuming and limiting when we want to integrate safety aspects, make changes in the environment, structure and/or transfer the task(s) to different robots as seen Fig.…”

Section: Introductionmentioning

confidence: 99%

Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees

Laha¹,

Sun²,

Wu³

et al. 2022

Preprint

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As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement guidance whilst coping with changes in the environment is of paramount importance. In this paper, we present a novel approach for generating real-time motion plans for point-to-point tasks using a single successful human demonstration. Our approach is based on screw linear interpolation, which allows us to respect the underlying geometric constraints that characterize the task and are implicitly present in the demonstration. We also integrate an original reactive collision avoidance approach with our planner. We present extensive experimental results to demonstrate that with our approach, by using a single demonstration of moving one block, we can generate motion plans for complex tasks like stacking multiple blocks (in a dynamic environment). Analogous generalization abilities are also shown for tasks like pouring and loading shelves. For the pouring task, we also show that a demonstration given for one-armed pouring can be used for planning pouring with a dual-armed manipulator of different kinematic structure.

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Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC

Teimoorzadeh,

Silva,

Figueredo

et al. 2024

Springer Proceedings in Advanced Robotics

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Reactive Cooperative Manipulation based on Set Primitives and Circular Fields

Cited by 16 publications

References 41 publications

Distributed Control for a Multiagent System to Pass Through a Connected Quadrangle Virtual Tube

Distributed Control for a Multiagent System to Pass Through a Connected Quadrangle Virtual Tube

Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees

Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC

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