Related papers: Qualitative Relational Mapping and Navigation for …
This paper presents a novel approach to modeling curiosity in a mobile robot, which is useful for monitoring and adaptive data collection tasks, especially in the context of long term autonomous missions where pre-programmed missions are…
Recent advances with space navigation technologies developed by NASA in space-based atomic clocks and pulsar X-ray navigation combined with past successes in autonomous navigation using optical imaging, brings to the forefront the need to…
This letter proposes a method of global localization on a map with semantic object landmarks. One of the most promising approaches for localization on object maps is to use semantic graph matching using landmark descriptors calculated from…
Today, even the most compute-and-power constrained robots can measure complex, high data-rate video and LIDAR sensory streams. Often, such robots, ranging from low-power drones to space and subterranean rovers, need to transmit high-bitrate…
For intelligent robots to interact in meaningful ways with their environment, they must understand both the geometric and semantic properties of the scene surrounding them. The majority of research to date has addressed these mapping…
This paper highlights the significance of including memory structures in neural networks when the latter are used to learn perception-action loops for autonomous robot navigation. Traditional navigation approaches rely on global maps of the…
Robotic mapping is useful in scientific applications that involve surveying unstructured environments. This paper presents a target-oriented mapping system for sparsely distributed geologic surface features, such as precariously balanced…
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…
This work presents the task of unsupervised location mapping, which seeks to map the trajectory of an individual narrative on a spatial map of locations in which a large set of narratives take place. Despite the fundamentality and…
One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
This work studies object goal navigation task, which involves navigating to the closest object related to the given semantic category in unseen environments. Recent works have shown significant achievements both in the end-to-end…
In this investigation we focus on the problem of mapping the ground reflectivity with multiple laser scanners mounted on mobile robots/vehicles. The problem originates because regions of the ground become populated with a varying number of…
The growing use of probe vehicles generates a huge number of GNSS data. Limited by the satellite positioning technology, further improving the accuracy of map-matching is challenging work, especially for low-frequency trajectories. When…
Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs). For stable visual navigation, MAVs should generate perception-aware paths which guarantee enough visible landmarks. Many previous works on…
This article presents a novel approach to identifying and classifying intersections for semantic and topological mapping. More specifically, the proposed novel approach has the merit of generating a semantically meaningful map containing…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
Recent advances in satellite and communication technologies have significantly improved geographical information and monitoring systems. Global System for Mobile Communications (GSM) and Global Navigation Satellite System (GNSS)…
Map matching and registration are essential tasks in robotics for localisation and integration of multi-session or multi-robot data. Traditional methods rely on cameras or LiDARs to capture visual or geometric information but struggle in…
In this paper, we address the problem of autonomous multi-robot mapping, exploration and navigation in unknown, GPS-denied indoor or urban environments using a swarm of robots equipped with directional sensors with limited sensing…