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For robotic arms to operate in arbitrary environments, especially near people, it is critical to certify the safety of their motion planning algorithms.
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Matthias Althoff · 2010
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Sertac Karaman and Emilio Frazzoli · 2011
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“ Time-Optimal Trajectory Generation for Path Following with Bounded Acceleration and Velocity ”
Tobias Kunz and Mike Stilman · 2012
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Chonhyon Park, Jia Pan and Dinesh Manocha · 2012
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“ An Introduction to CORA 2015 ”
M. Althoff · 2015
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“ Efficient Computation of Interval-Arithmetic-Based Robust Controllers for Rigid Robots ”
A. Giusti and M. Althoff · 2017
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“ On responsiveness, safety, and completeness in real-time motion planning ”
Kris Hauser · 2012
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“Guaranteeing motion safety for robots”
Thierry Fraichard and James Kuffner · 2012
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“ Optimization: algorithms and consistent approximations ”
Elijah Polak · 2012
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Matt Zucker et al · 2013
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“ Motion planning with sequential convex optimization and convex collision checking ”
John Schulman et al · 2014
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“Control and verification of high-dimensional systems with DSOS and SDSOS programming”
Anirudha Majumdar, Amir Ahmadi and Russ Tedrake · 2014
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“ Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study ”
David Coleman, Ioan Sucan, Sachin Chitta and Nikolaus Correll · 2014
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S. Kousik et al · 2018
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“ Decomposition of Reachable Sets and Tubes for a Class of Nonlinear Systems ”
M. Chen et al · 2018
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“ Towards Provably Not-At-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments ”
Sean Vaskov et al · 2019
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“ Safe, Aggressive Quadrotor Flight via Reachability-Based Trajectory Design ” V003T19A010 3
Shreyas Kousik, Patrick Holmes and Ram Vasudevan · 2019
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“ Effortless creation of safe robots from modules through self-programming and self-verification ”
M. Althoff, A. Giusti, S.. Liu and A. Pereira · 2019
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“ Online Active Safety for Robotic Manipulators ”
A. Singletary, P. Nilsson, T. Gurriet and A. Ames · 2019
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