Publications

Publications

2021, Mar 11    

Where to go next: Learning a Subgoal Recommendation Policy for Navigation in Dynamic Environments

Bruno Brito, Michael Everett, Jonathan P. How, Javier Alonso-Mora

Published in RA-L + ICRA 2021

In this paper, we introduce Goal Oriented Model Predictive Control (GO-MPC), which enhances state-of-art online optimization-based planners with a learned global guidance policy.

Paper: Foo Video: Foo Code: Foo


Scenario-Based Trajectory Optimization in Uncertain Dynamic Environments

Oscar de Groot, Bruno Brito, Laura Ferranti, Dariu Gavrila and Javier Alonso-Mora

Published in RA-L + ICRA 2021

This work presents a novel probabilistic trajectory-optimization framework for motion planning in uncertain dynamic environments.

Paper: Foo Video: Foo


Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environments

Hai Zhu, Francisco Martinez Claramunt, Bruno Brito and Javier Alonso-Mora

Published in RA-L + ICRA 2021

This letter presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments.

Paper: Foo Video: Foo Code: Foo


Social-VRNN: One-Shot Multi-modal Trajectory Prediction for Interacting Pedestrians

Bruno Brito, Hai Zhu, Wei Pan and Javier Alonso-Mora

Published in CoRL 2020

In this paper, we present a variational learning approach for interaction-aware and multi-modal trajectory prediction based on deep generative neural networks.

Paper: Foo Video: Foo Code: Foo


Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments

Bruno Brito, Boaz Floor, Laura Ferranti and Javier Alonso-Mora

Published in RA-L + IROS 2019

This paper proposed a local planning approach based on Model Predictive Contouring Control (MPCC) to safely navigate a mobile robot in dynamic, unstructured environments.

Paper: Foo Video: Foo Code: Foo


SafeVRU: A Research Platform for the Interaction of Self-Driving Vehicles with Vulnerable Road Users

Laura Ferranti , Bruno Brito, Dariu Gavrila and Javier Alonso-Mora

Published in IV 2019

This paper presents our research platform SafeVRU for the interaction of self-driving vehicles with Vulnerable Road Users (VRUs, i.e., pedestrians and cyclists).

Paper: Foo Video: Foo Code: Foo


Towards Automated Order Picking Robots for Warehouses and Retail

Richard Bormann, Bruno Brito, Jochen Lindermayr, Marco Omainska and Mayank Patel

Published in International Conference on Computer Vision Systems 2019

This paper presents a mobile order picking robot for retail store or warehouse order fulfillment on typical packaged retail store items. I was the main responsible for the motion planning module.

Video: Foo


Guided Stochastic Optimization for Motion Planning

Richard Bormann, Bruno Brito, Jochen Lindermayr, Marco Omainska and Mayank Patel

Published in [Frontiers in Robotics and AI]

This paper presents a mobile order picking robot for retail store or warehouse order fulfillment on typical packaged retail store items. I was the main responsible for the motion planning module.

Video: Foo

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# Publications