Publications

Full list available on Google Scholar.

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

IEEE Robotics and Automation Letters (RA-L) + ICRA 2021

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

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Learning Interaction-aware Guidance Policies for Motion Planning in Dense Traffic Scenarios

Bruno Brito, Achin Agarwal and Javier Alonso-Mora

IEEE Transactions on Intelligent Transportation Systems

We present an approach for learning interaction-aware guidance policies that enable safe and efficient motion planning in complex, dense traffic scenarios.

Paper:

Scenario-Based Trajectory Optimization in Uncertain Dynamic Environments

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

IEEE Robotics and Automation Letters (RA-L) + ICRA 2021

A novel probabilistic trajectory-optimization framework for motion planning in uncertain dynamic environments.

Paper: Video:

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

IEEE Robotics and Automation Letters (RA-L) + ICRA 2021

A data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments.

Paper: Video: Code:

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

Conference on Robot Learning (CoRL) 2020

A variational learning approach for interaction-aware and multi-modal trajectory prediction based on deep generative neural networks.

Paper: Video: Code:

Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments

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

IEEE Robotics and Automation Letters (RA-L) + IROS 2019

A local planning approach based on Model Predictive Contouring Control (MPCC) for safe navigation of a mobile robot in dynamic, unstructured environments.

Paper: Video: Code:

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

IEEE Intelligent Vehicles Symposium (IV) 2019

A research platform for studying the interaction of self-driving vehicles with Vulnerable Road Users (pedestrians and cyclists).

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Towards Automated Order Picking Robots for Warehouses and Retail

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

International Conference on Computer Vision Systems 2019

A mobile order picking robot for retail store or warehouse order fulfillment. I was the main responsible for the motion planning module.

Video:

Guided Stochastic Optimization for Motion Planning

Richard Bormann, Bruno Brito et al.

Frontiers in Robotics and AI

A guided stochastic optimization approach for motion planning in complex environments.

Video:

Where to Go Next: Learning a Subgoal Recommendation Policy for Navigation Among Pedestrians

Learning Interaction-aware Guidance Policies for Motion Planning in Dense Traffic Scenarios

Scenario-Based Trajectory Optimization in Uncertain Dynamic Environments

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

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

Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments

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

Towards Automated Order Picking Robots for Warehouses and Retail

Guided Stochastic Optimization for Motion Planning