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This paper reports on developing an integrated framework for safety-aware informative motion planning suitable for legged robots.
Motion planning with many degrees of freedom-random reflections at c-space obstacles
Thomas Horsch, F Schwarz, and Henning Tolle · 1994
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Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Lydia E Kavraki, Petr Svestka, J-C Latombe, and Mark H Overmars · 1996
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Templates and anchors: neuromechanical hypotheses of legged locomotion on land
Robert J Full and Daniel E Koditschek · 1999
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Randomized kinodynamic planning
Steven M LaValle and James J Kuffner Jr · 2001
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The 3D linear inverted pendulum mode: A simple modeling for a biped walking pattern generation
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kazuhito Yokoi, and Hirohisa Hirukawa · 2001
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Hybrid zero dynamics of planar biped walkers
Eric R Westervelt, Jessy W Grizzle, and Daniel E Koditschek · 2003
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The robotics data set repository (Radish), 2003
A. Howard and N. Roy · 2003
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Feedback control of dynamic bipedal robot locomotion
Eric R Westervelt, Jessy W Grizzle, Christine Chevallereau, Jun Ho Choi, and Benjamin Morris · 2007
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Robust physics-based locomotion using low-dimensional planning
Igor Mordatch, Martin De Lasa, and Aaron Hertzmann · 2010
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LQR-trees: Feedback motion planning via sums-of-squares verification
Russ Tedrake, Ian R Manchester, Mark Tobenkin, and John W Roberts · 2010
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Multi-layered safety for legged robots via control barrier functions and model predictive control
Ruben Grandia, Andrew J Taylor, Aaron D Ames, and Marco Hutter · 2011
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Sampling-based algorithms for optimal motion planning
Karaman Sertac and Frazzoli Emilio · 2011
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Branch and bound for informative path planning
Jonathan Binney and Gaurav S Sukhatme · 2012
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From stable walking to steering of a 3D bipedal robot with passive point feet
Ching-Long Shih, Jessy Grizzle, and Christine Chevallereau · 2012
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Information-theoretic motion planning for constrained sensor networks
Daniel Levine, Brandon Luders, and Jonathan P How · 2013
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Optimizing waypoints for monitoring spatiotemporal phenomena
Jonathan Binney, Andreas Krause, and Gaurav S Sukhatme · 2013
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Sampling-based robotic information gathering algorithms
Geoffrey A Hollinger and Gaurav S Sukhatme · 2014
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Whole-body motion planning with centroidal dynamics and full kinematics
Hongkai Dai, Andrés Valenzuela, and Russ Tedrake · 2014
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FIRM: Sampling-based feedback motion-planning under motion uncertainty and imperfect measurements
Ali-Akbar Agha-Mohammadi, Suman Chakravorty, and Nancy M Amato · 2014
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Real-time model predictive control for quadrotors
Moses Bangura and Robert Mahony · 2014
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Robustness of control barrier functions for safety critical control
Xiangru Xu, Paulo Tabuada, Jessy W Grizzle, and Aaron D Ames · 2015
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Computationally efficient information-theoretic exploration of pits and caves
Wennie Tabib, Micah Corah, Nathan Michael, and Red Whittaker · 2016
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Navigation planning for legged robots in challenging terrain
Martin Wermelinger, Péter Fankhauser, Remo Diethelm, Philipp Krüsi, Roland Siegwart, and Marco Hutter · 2016
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Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Sampling-based incremental information gathering with applications to robotic exploration and environmental monitoring
Maani Ghaffari Jadidi, Jaime Valls Miro, and Gamini Dissanayake · 2019
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Sampling-based motion planning via control barrier functions
Guang Yang, Bee Vang, Zachary Serlin, Calin Belta, and Roberto Tron · 2019
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DARPA subterranean challenge: Multi-robotic exploration of underground environments
Tomáš Rouček, Martin Pecka, Petr Čížek, Tomáš Petříček, Jan Bayer, Vojtěch Šalanskỳ, Daniel Heřt, Matěj Petrlík, Tomáš Báča, Vojěch Spurnỳ, et al · 2019
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Rapid trajectory optimization using C-FROST with illustration on a Cassie-series dynamic walking biped
Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, and Jessy W Grizzle · 2019
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Feedback control of a Cassie bipedal robot: Walking, standing, and riding a segway
Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, and Jessy Grizzle · 2019
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Scott Kuindersma, Robin Deits, Maurice Fallon, Andrés Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, and Russ Tedrake · 2016
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Control barrier function based quadratic programs for safety critical systems
Aaron D Ames, Xiangru Xu, Jessy W Grizzle, and Paulo Tabuada · 2016
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3D dynamic walking on stepping stones with control barrier functions
Quan Nguyen, Ayonga Hereid, Jessy W Grizzle, Aaron D Ames, and Koushil Sreenath · 2016
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Online informative path planning for active classification using UAVs
Marija Popović, Gregory Hitz, Juan Nieto, Inkyu Sa, Roland Siegwart, and Enric Galceran · 2017
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Adaptive continuous-space informative path planning for online environmental monitoring
Gregory Hitz, Enric Galceran, Marie-Ève Garneau, François Pomerleau, and Roland Siegwart · 2017
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Discrete control barrier functions for safety-critical control of discrete systems with application to bipedal robot navigation
Ayush Agrawal and Koushil Sreenath · 2017
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Autonomous robotic exploration based on multiple rapidly-exploring randomized trees
Hassan Umari and Shayok Mukhopadhyay · 2017
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Real-time model predictive control for versatile dynamic motions in quadrupedal robots
Yanran Ding, Abhishek Pandala, and Hae-Won Park · 2019
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Kriging-based robotic exploration for soil moisture mapping using a cosmic-ray sensor
Jaime Pulido Fentanes, Amir Badiee, Tom Duckett, Jonathan Evans, Simon Pearson, and Grzegorz Cielniak · 2020
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Graph-based subterranean exploration path planning using aerial and legged robots
Tung Dang, Marco Tranzatto, Shehryar Khattak, Frank Mascarich, Kostas Alexis, and Marco Hutter · 2020
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Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions
Jason Choi, Fernando Castañeda, Claire Tomlin, and Koushil Sreenath · 2020
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Safe and robust motion planning for dynamic robotics via control barrier functions
Aniketh Manjunath and Quan Nguyen · 2020
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Safety-critical model predictive control with discrete-time control barrier function
Jun Zeng, Bike Zhang, and Koushil Sreenath · 2020
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Yukai Gong and Jessy Grizzle · 2020
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Dynamic walking on stepping stones with gait library and control barrier functions
Quan Nguyen, Xingye Da, JW Grizzle, and Koushil Sreenath · 2020
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Time-distributed optimization for real-time model predictive control: Stability, robustness, and constraint satisfaction
Dominic Liao-McPherson, Marco M Nicotra, and Ilya Kolmanovsky · 2020
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Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions
Ruben Grandia, Andrew Taylor, Andrew Singletary, Marco Hutter, and Aaron Ames · 2020
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Dynamic and versatile humanoid walking via embedding 3D actuated SLIP model with hybrid LIP based stepping
Xiaobin Xiong and Aaron D. Ames · 2020
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Contact-aided invariant extended kalman filtering for robot state estimation
Ross Hartley, Maani Ghaffari, Ryan M Eustice, and Jessy W Grizzle · 2020
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Asymptotically optimal sampling-based motion planning methods
Jonathan D. Gammell and Marlin P. Strub · 2021
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