Papers Collision Avoidance
“Collision Avoidance” 태그가 달린 논문 876편 · 필터 해제
A Bio-Plausible Visual Neural Network for Locust-Inspired Collision Perception
Locust visual systems have long served as an important biological paradigm for studying looming perception and collision avoidance. Numerous computational models have successfully reproduced the selective responses of Lo…
Computational EfficiencyCollision AvoidanceEgoNav: Bridging Learned Waypoints and Geometry-Aware Local Control for Robust Indoor Navigation
Image-goal navigation using lightweight topological maps is a practical paradigm for indoor robot deployment: the map requires only geotagged images, and localization relies on visual matching rather than precise pose es…
Collision AvoidancePose EstimationCoverage-Driven Verification for Safety-by-Design in AI-Based Collision Avoidance Systems
Artificial Intelligence (AI) offers significant potential for future aviation systems; however, its integration into safety-critical applications requires compliance with the aviation sector's stringent safety standards.…
Collision AvoidanceArm-Aware Guided Dexterous Grasp Generation with Arm-Agnostic Grasp Models
Dexterous grasp generation that considers arm-related constraints is crucial in real-world scenarios involving arm environment collision avoidance, workspace boundary grasps, and consecutive grasping. Existing hand-centr…
Collision AvoidanceA Temporal Barrier Framework for Collision Avoidance in Multi-Agent Autonomous Aerial Vehicles
Operating teams of autonomous aircraft in dynamic, uncertain, and potentially adversarial environments requires safety protocols that are reliable yet selective, and allow agents to fly in close proximity while making pr…
Collision AvoidancePredictive Relative-Velocity Steering for Safe Robotic Manipulator Teleoperation in Dynamic Environments
Recent advances in teleoperation have enabled robotic manipulators to perform dexterous, human-arm-like motions. However, human operators may fail to avoid suddenly appearing obstacles promptly and effectively, particula…
Collision AvoidanceAccelerating Human-Aware Robot Trajectory Generation via Diffusion and Consistency Distillation
This research proposes a constrained motion planning framework for robot manipulators in human-robot interaction (HRI). For a non-redundant manipulator with a fully specified end-effector pose, additional requirements su…
Collision AvoidanceMotion PlanningGrasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety & Guaranteed Quality
Standard multifingered grasp execution architectures plan a collision-free trajectory to a selected grasp pose and track it with a feedback law. Execution-time object pose uncertainty or perturbations may invalidate the …
Collision AvoidanceCinemaTraj: Composing Atomic Camera Trajectories for 3D Scenes with LLM Agents
Automatically generating cinematically expressive camera trajectories through 3D scenes from natural language descriptions is a challenging task of high practical value, with applications ranging from real-estate adverti…
Trajectory PlanningCollision AvoidanceSpatial ReasoningSemi-Decentralized Multi-Spacecraft Collision Avoidance under Communication Constraints
Current spacecraft collision-avoidance operations rely on intermittent ground-station contacts, requiring operators to plan with delayed and asynchronously updated information. Consequently, maneuvers must be planned wit…
Collision AvoidanceRLMM-Flow: A Flow-based Mobile Manipulation Framework with Latent-Space Reinforcement Learning
Mobile manipulation requires generating whole-body action chunks that jointly satisfy goal reaching, collision avoidance, base kinematic constraints, manipulator joint limits, and trajectory smoothness. Flow-based genera…
Reinforcement LearningCollision AvoidanceGrasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization
Bimanual object reorientation - picking an object, handing it over between two arms, and placing it in a desired target pose - is valuable when direct placement from the initial grasp is infeasible due to collisions, kin…
Collision AvoidanceMotion PlanningDistributed Motion Planning with Safety Guarantees for Self-Reconfiguring Robotic Boats
Aquatic self-reconfigurable robots must assemble into desired shapes while ensuring safe interactions among multiple agents. This paper proposes a hybrid framework that combines distributed Model Predictive Control (MPC)…
Collision AvoidanceMotion PlanningRemote ID Spoofing-Aware Trajectory Planning for Small Unmanned Aerial Systems
This work presents a decentralized, spoofing-aware trajectory planning framework for small unmanned aerial systems operating under Remote Identification (RID) location spoofing attacks. Existing planners typically assume…
Computational EfficiencyTrajectory PlanningCollision AvoidanceGeoWorldAD: Geometry World Action Model for Autonomous Driving
Autonomous driving requires both safe and efficient planning decisions in dynamic 3D environments. Although recent Vision/Video-Action models learn policies directly from visual observations and scale well with advances …
Collision AvoidanceTrajectory PlanningAutonomous DrivingA Task-Space Receding Horizon Controller for Fast Collision Avoidance
Real-time collision avoidance for robotic manipulators requires fast reactions to unexpected obstacle motion and lookahead to avoid becoming trapped by near-future constraints. Full model predictive control can provide t…
Collision AvoidanceLearning Agile Navigation in Crowded Environments for Quadruped Robots
Navigating dynamic and crowded environments presents significant challenges for quadruped robots due to severe sensor occlusion and unpredictable human motion. Existing approaches face a trade-off: model-based methods, s…
Collision AvoidanceCosFly-VLA: A Spatially Aware Vision-Language-Action Model for UAV Tracking
Dynamic target tracking is essential for Unmanned Aerial Vehicles (UAVs) operating in complex urban environments, where both the target and the camera viewpoint change continuously. Existing Vision-Language-Action (VLA) …
Reinforcement LearningStructured PredictionCollision AvoidanceSpatial ReasoningModeling and Validation of Quality of Control for Edge-Offloaded Collaborative Navigation
Collaborative control in complex environments is severely challenged by stochastic wireless delay and reliability variations, which can degrade navigation, tracking, and collision avoidance. These network-induced uncerta…
Collision Avoidance3D Geometric Tooth Alignment Planning via Deep Reinforcement Learning
3D geometric tooth alignment planning, which determines sequential trajectories from initial malocclusion to the final target alignment, is a cornerstone of modern digital orthodontics. This paper presents a novel deep r…
Reinforcement LearningCollision Avoidance