A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers
Caleb Escobedo,Nataliya Nechyporenko,Shreyas Kadekodi,Alessandro Roncone,Caleb Escobedo,Nataliya Nechyporenko,Shreyas Kadekodi,Alessandro Roncone
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware con-trollers, methods for altering a robot's motion to anticipate and avoid possible collisions. This framework is focused on three design considerations: kinematics, motion profiles, and virtual constraints. Additionally, the analysis in ...
