Related papers: Motion Planning for Global Localization in Non-Gau…
We present a novel approach for motion planning in mobile robotics under sensing and motion uncertainty based on state lattices with graduated fidelity. The probability of collision is reliably estimated considering the robot shape, and the…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
We present an integrated Task-Motion Planning framework for robot navigation in belief space. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion) space. To…
Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
We present a multimodal camera relocalization framework that captures ambiguities and uncertainties with continuous mixture models defined on the manifold of camera poses. In highly ambiguous environments, which can easily arise due to…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location…
This paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We propose a technique to guide a sampling-based search tree in the combined task and…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
Visual localization allows autonomous robots to relocalize when losing track of their pose by matching their current observation with past ones. However, ambiguous scenes pose a challenge for such systems, as repetitive structures can be…
Robots in the real world need to perceive and move to goals in complex environments without collisions. Avoiding collisions is especially difficult when relying on sensor perception and when goals are among clutter. Diffusion policies and…
We address the risk bounded trajectory optimization problem of stochastic nonlinear robotic systems. More precisely, we consider the motion planning problem in which the robot has stochastic nonlinear dynamics and uncertain initial…
Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem instances. Most variants bias their sampling using various…
We present a unified formal framework for expressing mobile robots models, protocols, and proofs, and devise a protocol design/proof methodology dedicated to mobile robots that takes advantage of this formal framework. As a case study, we…
Motion planning for a multi-limbed climbing robot must consider the robot's posture, joint torques, and how it uses contact forces to interact with its environment. This paper focuses on motion planning for a robot that uses nontraditional…
Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR scanners have become the standard sensor for robot…