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This paper presents a provably correct method for robot navigation in 2D environments cluttered with familiar but unexpected non-convex, star-shaped obstacles as well as completely unknown, convex obstacles. We presuppose a limited range onboard sensor, capable of recognizing, localizing and (leveraging ideas from constructive solid geometry) generating online from its catalogue of the familiar, non-convex shapes an implicit representation of each one. These representations underlie an online change of coordinates to a completely convex model planning space wherein a previously developed online construction yields a provably correct reactive controller that is pulled back to the physically sensed representation to generate the actual robot commands. We extend the construction to differential drive robots, and suggest the empirical utility of the proposed control architecture using both formal proofs and numerical simulations.
This paper solves the planar navigation problem by recourse to an online reactive scheme that exploits recent advances in SLAM and visual object recognition to recast prior geometric knowledge in terms of an offline catalogue of familiar objects. The
This paper presents a reactive planning system that enriches the topological representation of an environment with a tightly integrated semantic representation, achieved by incorporating and exploiting advances in deep perceptual learning and probabi
This study proposes an integrated task and motion planning method for dynamic locomotion in partially observable environments with multi-level safety guarantees. This layered planning framework is composed of a high-level symbolic task planner and a
In this paper, we present an approach for designing feedback controllers for polynomial systems that maximize the size of the time-limited backwards reachable set (BRS). We rely on the notion of occupation measures to pose the synthesis problem as an
This paper presents an agile reactive navigation strategy for driving a non-holonomic ground vehicle around a preset course of gates in a cluttered environment using a low-cost processor array sensor. This enables machine vision tasks to be performed