Daniela Rus
33 records found
1
Authored
Editorial
Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots
Mobility-as-a-Service (MaaS) systems are transforming the way society moves. The introduction and adoption of pooled ride-sharing has revolutionized urban transit with the potential of reducing vehicle congestion, improving accessibility and flexibility of a city's transportat ...
Deployment of autonomous vehicles on public roads promises increased efficiency and safety. It requires understanding the intent of human drivers and adapting to their driving styles. Autonomous vehicles must also behave in safe and predictable ways without requiring explicit ...
Mobility-on-demand (MoD) systems are revolutionizing urban transit with the introduction of ride-sharing. Such systems have the potential to reduce vehicle congestion and improve accessibility of a city's transportation infrastructure. Recently developed algorithms can compute ...
This paper presents a distributed method for formation control of a homogeneous team of aerial or ground mobile robots navigating in environments with static and dynamic obstacles. Each robot in the team has a finite communication and visibility radius and shares information w ...
consider multiple motion hypothesis. In this p ...
Recent developments in Mobility-on-Demand (MoD) systems have demonstrated the potential of road vehicles as an efficient mode of urban transportation Newly developed algorithms can compute vehicle routes in real-time for batches of requests and allow for multiple requests to s ...
Ride-sharing services are transforming urban mobility by providing timely and convenient transportation to anybody, anywhere, and anytime. These services present enormous potential for positive societal impacts with respect to pollution, energy consumption, congestion, etc. Cu ...
In this paper we present a trajectory generation method for autonomous overtaking of static obstacles in a dynamic urban environment. In these settings, blind spots can arise from perception limitations. For example, the autonomous car may have to move slightly into the opposi ...
In the near future mobile robots, such as personal robots or mobile manipulators, will share the workspace with other robots and humans. We present a method for mission and motion planning that applies to small teams of robots performing a task in an environment with moving ob ...
High-end vehicles are already equipped with safety systems, such as assistive braking and automatic lane following, enhancing vehicle safety. Yet, these current solutions can only help in low-complexity driving situations. In this paper, we introduce a parallel autonomy, or sh ...
Parallel autonomy in automated vehicles
Safe motion generation with minimal intervention
Current state-of-the-art vehicle safety systems, such as assistive braking or automatic lane following, are still only able to help in relatively simple driving situations. We introduce a Parallel Autonomy shared-control framework that produces safe trajectories based on human ...
We present a constrained optimization method for multi-robot formation control in dynamic environments, where the robots adjust the parameters of the formation, such as size and three-dimensional orientation, to avoid collisions with static and moving obstacles, and to make pr ...
Ride-sharing, or carpooling, systems with autonomous vehicles will provide efficient and reliable urban mobility on demand. In this work we present a method for dynamic vehicle routing that leverages historical data to improve the performance of a network of self-driving taxis ...