Related papers: Linear Search with Terrain-Dependent Speeds
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
We study the classic problem in which a Searcher must locate a hidden point, also called the Hider in a network, starting from a root point. The network may be either bounded or unbounded, thus generalizing well-known settings such as…
Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…
Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…
Till now, many path planning algorithms have been proposed in the literature. The objective of these algorithms is to find the quickest path between initial position to the end position in a certain environment. The complexity of these…
Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…
The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…
In this paper the computational challenges of time-optimal path following are addressed. The standard approach is to minimize the travel time, which inevitably leads to singularities at zero path speed, when reformulating the optimization…
This paper investigates different methods to detect obstacles ahead of a robot using a camera in the robot, an aerial camera, and an ultrasound sensor. We also explored various efficient path finding methods for the robot to navigate to the…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
The object of the research is the adaptive algorithms that are used by the operator when educating the robotic systems. Operator, being the target-setting subject, is interested in the goal that robotic systems, being the conductor of his…
When robots operate in real-world off-road environments with unstructured terrains, the ability to adapt their navigational policy is critical for effective and safe navigation. However, off-road terrains introduce several challenges to…
Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…
The outdoor navigation capabilities of ground robots have improved significantly in recent years, opening up new potential applications in a variety of settings. Cost-based representations of the environment are frequently used in the path…
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…
Most of the existing formation algorithms for multiagent systems are fully label-specified, i.e., the desired position for each agent in the formation is uniquely determined by its label, which would inevitably make the formation algorithms…
Efficient search acts as a strong selective force in biological systems ranging from cellular populations to predator-prey systems. The search processes commonly involve finding a stationary or mobile target within a heterogeneously…