Related papers: A genetic algorithm for autonomous navigation in p…
In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such environments with limited localization, communication range, and…
In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…
We propose a novel method for autonomous legged robot navigation in densely vegetated environments with a variety of pliable/traversable and non-pliable/untraversable vegetation. We present a novel few-shot learning classifier that can be…
Autonomous terrain classification is an important problem in planetary navigation, whether the goal is to identify scientific sites of interest or to traverse treacherous areas safely. Past Martian rovers have relied on human operators to…
In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…
This study proposes behavior-based navigation architecture, named BBFM, to deal with the problem of navigating the mobile robot in unknown environments in the presence of obstacles and local minimum regions. In the architecture, the complex…
Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…
This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
We present a novel system, AdVENTR for autonomous robot navigation in unstructured outdoor environments that consist of uneven and vegetated terrains. Our approach is general and can enable both wheeled and legged robots to handle outdoor…
Existing autonomous robot navigation systems allow robots to move from one point to another in a collision-free manner. However, when facing new environments, these systems generally require re-tuning by expert roboticists with a good…
This paper describes a method of estimating the traversability of plant parts covering a path and navigating through them for mobile robots operating in plant-rich environments. Conventional mobile robots rely on scene recognition methods…
We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…
Navigation in natural outdoor environments requires a robust and reliable traversability classification method to handle the plethora of situations a robot can encounter. Binary classification algorithms perform well in their native domain…
In autonomous driving, navigation through unsignaled intersections with many traffic participants moving around is a challenging task. To provide a solution to this problem, we propose a novel branched network G-CIL for the navigation…
Ensuring safe behavior for automated vehicles in unregulated traffic areas poses a complex challenge for the industry. It is an open problem to provide scalable and certifiable solutions to this challenge. We derive a trajectory planner…
Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…
This article presents a generic method to solve 2D multi-objective placement problem for free-form components. The proposed method is a relaxed placement technique combined with an hybrid algorithm based on a genetic algorithm and a…