Related papers: Sensor Network Based Collision-Free Navigation and…
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…
Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation. These sensors, however, cannot detect transparent surfaces or measure the full occupancy of complex objects such as tables. Deep Neural…
Accurate perception, state estimation and mapping are essential for safe robotic navigation as planners and controllers rely on these components for safety-critical decisions. However, existing mapping approaches often assume perfect pose…
This paper addresses the problem of planning for a robot with a directional obstacle-detection sensor that must move through a cluttered environment. The planning objective is to remain safe by finding a path for the complete robot,…
Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…
In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…
Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…
We propose efficient distributed algorithms to aid navigation of a user through a geographic area covered by sensors. The sensors sense the level of danger at their locations and we use this information to find a safe path for the user…
Fast, collision-free motion through unknown environments remains a challenging problem for robotic systems. In these situations, the robot's ability to reason about its future motion is often severely limited by sensor field of view (FOV).…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…
This paper introduces a novel classification for Autonomous Mobile Robots (AMRs), into three phases and five steps, focusing on autonomous collision-free navigation. Additionally, it presents the main methods and widely accepted…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Collision-free path planning is an essential requirement for autonomous exploration in unknown environments, especially when operating in confined spaces or near obstacles. This study presents an autonomous exploration technique using a…
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,…
Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…
This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also bring in the requirement of the…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…
Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…