Related papers: Viewing Robot Navigation in Human Environment as a…
In the rapidly evolving landscape of autonomous mobile robots, the emphasis on seamless human-robot interactions has shifted towards autonomous decision-making. This paper delves into the intricate challenges associated with robotic…
We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity…
As the number of Persons with Disabilities (PWD), particularly those with one or more physical impairments, increases, there is an increasing demand for assistive robotic technologies that can support independent mobility in the built…
Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…
Mobile robot navigation has seen extensive research in the last decades. The aspect of collaboration with robots and humans sharing workspaces will become increasingly important in the future. Therefore, the next generation of mobile robots…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
When studying robots collaborating with humans, much of the focus has been on robot policies that coordinate fluently with human teammates in collaborative tasks. However, less emphasis has been placed on the effect of the environment on…
Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…
Recent advances in the field of machine learning have led to new ways for mobile robots to acquire advanced navigational capabilities. However, these learning-based methods raise the possibility that learned navigation behaviors may not…
This study addresses the challenge of integrating social norms into robot navigation, which is essential for ensuring that robots operate safely and efficiently in human-centric environments. Social norms, often unspoken and implicitly…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
Many of the tasks that a service robot can perform at home involve navigation skills. In a real world scenario, the navigation system should consider individuals beyond just objects, theses days it is necessary to offer particular and…
In a typical path planning pipeline for a ground robot, we build a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating indoors, a ground robot's knowledge about the environment may be limited due to…
In this paper, we consider a robot navigation problem in environments populated by humans. The goal is to determine collision-free and dynamically feasible trajectories that also maximize human satisfaction. This is because they may drive…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Robots need to be able to work in multiple different environments. Even when performing similar tasks, different behaviour should be deployed to best fit the current environment. In this paper, We propose a new approach to navigation, where…
This paper develops a novel framework called Providers-Clients-Robots (PCR), applicable to socially assistive robots that support research on shared understanding in human-robot interactions. Providers, Clients, and Robots share an…