Publications by Lukas Huber | EPFL Graph Search

Related publications (8)

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

EPFL2024

Avoiding Dense and Dynamic Obstacles in Enclosed Spaces: Application to Moving in Crowds

Aude Billard, Lukas Huber

This article presents a closed-form approach to constraining a flow within a given volume and around objects. The flow is guaranteed to converge and to stop at a single fixed point. The obstacle avoidance problem is inverted to enforce that the flow remain ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

A Dynamical System Approach to Decentralized Collision-free Autonomous Coordination of a Mobile Assistive Furniture Swarm

Auke Ijspeert, Aude Billard, Lukas Huber, Anastasia Bolotnikova

In order to facilitate and assist the indoor mobility of people with special needs, the classically static objects in the environment, such as furniture, can be rendered mobile. The need for efficient and safe autonomous coordination of a mobile furniture ...

IEEE2022

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Aude Billard, Lukas Huber

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Agent Prioritization and Virtual Drag Minimization in Dynamical System Modulation For Obstacle Avoidance of Decentralized Swarms

Alessandro Menichelli, Auke Ijspeert, Aude Billard, Lukas Huber, Anastasia Bolotnikova

Efficient and safe multi-agent swarm coordination in environments where humans operate, such as warehouses, assistive living rooms, or automated hospitals, is crucial for adopting automation. In this paper, we augment the obstacle avoidance algorithm based ...

IEEE2023

Avoidance of Convex and Concave Obstacles with Convergence ensured through Contraction

Aude Billard, Lukas Huber

This paper presents a closed-form approach to obstacle avoidance for multiple moving convex and star-shaped concave obstacles. The method takes inspiration in harmonic-potential fields. It inherits the convergence properties of harmonic potentials. We prov ...

2019

Passive Obstacle-Aware Control to Follow Desired Velocities

Aude Billard, Lukas Huber

Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which remains complia ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2025

Data-driven protease engineering by DNA-recording and epistasis-aware machine learning

Lukas Huber, Markus Jeschek

Protein engineering has recently seen tremendous transformation due to machine learning (ML) tools that predict structure from sequence at unprecedented precision. Predicting catalytic activity, however, remains challenging, restricting our capabilities to ...

Springer Science and Business Media LLC2025