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A nonholonomic under-actuated robot with a bounded control range travels inside an unknown and unstructured 3D tunnel bounded by a generic 2D surface. The robot has access to the nearest point of the surface and measures the distance to the…

We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…

This paper introduces a reactive navigation framework for mobile robots in 3-dimensional (3D) space. The proposed approach does not rely on the global map information and achieves fast navigation by employing a tentacle based sampling and…

We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…

This paper presents a provably correct method for robot navigation in 2D environments cluttered with familiar but unexpected non-convex, star-shaped obstacles as well as completely unknown, convex obstacles. We presuppose a limited range…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

We present technical results justifying a method for guidance of a Dubins-like vehicle with saturated control towards a target in a steady simply connected maze-like environment. The vehicle always has access to to the target relative…

This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…

In this paper, we present an active visual SLAM approach for omnidirectional robots. The goal is to generate control commands that allow such a robot to simultaneously localize itself and map an unknown environment while maximizing the…

This paper presents an agile reactive navigation strategy for driving a non-holonomic ground vehicle around a preset course of gates in a cluttered environment using a low-cost processor array sensor. This enables machine vision tasks to be…

As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…

In mobile robotics, coverage navigation refers to the deliberate movement of a robot with the purpose of covering a certain area or volume. Performing this task properly is fundamental for the execution of several activities, for instance,…

Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…

Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…

Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…

This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…

Our brain has an inner global positioning system which enables us to sense and navigate 3D spaces in real time. Can mobile robots replicate such a biological feat in a dynamic environment? We introduce the first spatial reasoning framework…

This technical report presents the construction and analysis of polynomial navigation functions for motion planning in 3-D workspaces populated by spherical and cylindrical obstacles. The workspace is modeled as a bounded spherical region,…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…