Perceiving obstacles and avoiding collisions is fundamental to the safe operation of a robot system, particularly when the robot must operate in highly dynamic human environments. Proximity detection using on-robot sensors can be used to avoid or mitigate impending collisions. However, existing proximity sensing methods are orientation and placement dependent, resulting in blind spots even with large numbers of sensors. In this paper, we introduce the phenomenon of the Leaky Surface Wave (LSW), a novel sensing modality, and present AuraSense, a proximity detection system using the LSW. AuraSense is the first system to realize no-dead-spot proximity sensing for robot arms. It requires only a single pair of piezoelectric transducers, and can easily be applied to off-the-shelf robots with minimal modifications. We further introduce a set of signal processing techniques and a lightweight neural network to address the unique challenges in using the LSW for proximity sensing. Finally, we demonstrate a prototype system consisting of a single piezoelectric element pair on a robot manipulator, which validates our design. We conducted several micro benchmark experiments and performed more than 2000 on-robot proximity detection trials with various potential robot arm materials, colliding objects, approach patterns, and robot movement patterns. AuraSense achieves 100% and 95.3% true positive proximity detection rates when the arm approaches static and mobile obstacles respectively, with a true negative rate over 99%, showing the real-world viability of this system.
Efficient COLREGs-Compliant Collision Avoidance using Turning Circle-based Control Barrier Function
Mobile Robotics and Intelligence Laboratory, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST)（移动机器人与智能实验室，机械工程系，韩国科学技术院）
Stream Function-Based Navigation for Complex Quadcopter Obstacle Avoidance
GIPSA-lab, Université Grenoble Alpes - CNRS（格拉诺布尔大学实验室，格拉诺布尔大学-国家科学研究中心）；Department of Mechanical Engineering, Dalhousie University（达勒豪西大学机械工程系）；Advanced Control and Mechatronics Laboratory, Department of Mechanical Engineering, Dalhousie University（达勒豪西大学先进控制与机电实验室，机械工程系）
COSMIK-MPPI: Scaling Constrained Model Predictive Control to Collision Avoidance in Close-Proximity Dynamic Human Environments
LAAS-CNRS, Université de Toulouse, CNRS（法国国家科学研究中心-图卢兹大学系统分析与架构实验室）；CIIRC, Czech Technical University（捷克理工大学计算机信息与机器人中心）；LIRMM, Université de Montpellier, CNRS（法国国家科学研究中心-蒙彼利埃大学机器人微电子实验室）；Artificial and Natural Intelligence Toulouse Institute (ANITI)（图卢兹人工智能与自然智能研究所）；Image and Pervasive Access Laboratory (IPAL), CNRS-UMI, 2955（图像与普适访问实验室，法国国家科学研究中心-国际联合实验室2955）；Industrial Engineering Department, University of Trento（特伦托大学工业工程系）
Self-Supervised Learning-Based Path Planning and Obstacle Avoidance Using PPO and B-Splines in Unknown Environments
Department of Mechanical Engineering Univerisity of New Hampshire Durham, New Hampshire, USA（机械工程系 新罕布什尔大学 布鲁克林, 新罕布什尔州, 美国）；Department of Mechanical Engineering The Citadel School of Engineering Charleston County, South Carolina, USA（机械工程系 蒂 Citadel 工程学院 查尔斯顿县, 南卡罗来纳州, 美国）
Preliminary Prototyping of Avoidance Behaviors Triggered by a User's Physical Approach to a Robot
Faculty of Informatics（信息学部）；Kansai University（关西大学）；Graduate School of Engineering（工学研究科）；University of Hyogo（兵库大学）；Graduate School of Informatics（信息学研究科）
N-dimensional Convex Obstacle Avoidance using Hybrid Feedback Control (Extended version)
Department of Electrical and Computer Engineering, Lakehead University（电气与计算机工程系，拉科赫大学）；Department of Electrical and Computer Engineering, Western University（电气与计算机工程系，西部大学）
A Riemannian Metric for Geometry-Aware Singularity Avoidance by Articulated Robots
University of Toronto Institute for Aerospace Studies（多伦多大学航空航天研究所）；University of Zagreb Faculty of Electrical Engineering and Computing（萨格勒布大学电气工程与计算学院）
Multi-sensory Anti-collision Design for Autonomous Nano-swarm Exploration
University of Bologna（博洛尼亚大学）；KU Leuven（鲁汶大学）；ETH Zürich（苏黎世联邦理工学院）；Dalle Molle Institute for Artificial Intelligence (IDSIA), USI-SUPSI（USI-SUPSI 达尔·莫勒人工智能研究所（IDSIA））
