Related papers: Mobility Map Computations for Autonomous Navigatio…
To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…
Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…
We present UbiSLAM, an innovative solution for real-time mapping and localization in dynamic indoor environments. By deploying a network of fixed RGB-D cameras strategically throughout the workspace, UbiSLAM addresses limitations commonly…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
To achieve autonomy in unknown and unstructured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is crucial for safe and efficient robot navigation in environment with…
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…
Predicting how the world can evolve in the future is crucial for motion planning in autonomous systems. Classical methods are limited because they rely on costly human annotations in the form of semantic class labels, bounding boxes, and…
Robotic navigation through crowds or herds requires the ability to both predict the future motion of nearby individuals and understand how these predictions might change in response to a robot's future action. State of the art trajectory…
Legged robots need to make contact with irregular surfaces, when operating in unstructured natural terrains. Representing and perceiving these areas to reason about potential contact between a robot and its surrounding environment, is still…
Critical for the coexistence of humans and robots in dynamic environments is the capability for agents to understand each other's actions, and anticipate their movements. This paper presents Stochastic Process Anticipatory Navigation…
A significant problem in designing mobile robot control systems involves coping with the uncertainty that arises in moving about in an unknown or partially unknown environment and relying on noisy or ambiguous sensor data to acquire…
Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to navigate avoiding going through the personal spaces of the people surrounding them. Complying with social rules such as not getting in…
Autonomous driving perceives surroundings with line-of-sight sensors that are compromised under environmental uncertainties. To achieve real time global information in high definition map, we investigate to share perception information…
Legged robots are increasingly entering new domains and applications, including search and rescue, inspection, and logistics. However, for such systems to be valuable in real-world scenarios, they must be able to autonomously and robustly…
Motion prediction systems aim to capture the future behavior of traffic scenarios enabling autonomous vehicles to perform safe and efficient planning. The evolution of these scenarios is highly uncertain and depends on the interactions of…
Most applications in autonomous navigation using mounted cameras rely on the construction and processing of geometric 3D point clouds, which is an expensive process. However, there is another simpler way to make a space navigable quickly:…
This paper proposes a navigation method considering blind spots based on the robot operating system (ROS) navigation stack and blind spots layer (BSL) for a wheeled mobile robot. In this paper, environmental information is recognized using…
This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…
Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…
Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow…