Advances in Autonomous Robot Navigation and Control

The field of autonomous robot navigation and control is rapidly advancing, with a focus on developing innovative solutions for safe and efficient navigation in complex environments. Recent research has explored the use of runtime assurance safety monitors, load-bearing assessment frameworks, and real-time quadratic programming solvers to improve the reliability and performance of autonomous robots. Additionally, there has been a growing interest in the development of novel actuation systems, such as embroidery actuators and vine robots, which offer new possibilities for robot design and control. Noteworthy papers in this area include: The paper on Safety Monitor for Off-Road Planning with Uncertainty Bounded Bekker Costs, which presents a novel safety monitor that collaborates with any planner to ensure safe and predictable behavior in off-road autonomy. The paper on Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain, which introduces a robust locomotion framework for safe navigation over unstable surfaces. The paper on Real-Time QP Solvers, which provides a comprehensive analysis and benchmarking study of cutting-edge QP solvers for legged robotics.

Sources

Safety Monitor for Off-Road Planning with Uncertainty Bounded Bekker Costs

Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain

Real-Time QP Solvers: A Concise Review and Practical Guide Towards Legged Robots

Motion Planning with Precedence Specifications via Augmented Graphs of Convex Sets

On Steerability Factors for Growing Vine Robots

Learning Neural Observer-Predictor Models for Limb-level Sampling-based Locomotion Planning

Seq-DeepIPC: Sequential Sensing for End-to-End Control in Legged Robot Navigation

Embroidery Actuator Utilizing Embroidery Patterns to Generate Diverse Fabric Deformations

Development of Implicit-Explicit Control Based Amphibious Centipede-Type Robot and Evaluation of its Mobile Performance

Combining Moving Mass Actuators and Manoeuvring Models for Underwater Vehicles: A Lagrangian Approach

Octopus-like Reaching Motion: A Perspective Inspired by Whipping

Using VLM Reasoning to Constrain Task and Motion Planning

Modeling Collapse of Steered Vine Robots Under Their Own Weight

Kinodynamic Task and Motion Planning using VLM-guided and Interleaved Sampling

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