Related papers: UAV and Service Robot Coordination for Indoor Obje…

Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…

The exploration of unknown, Global Navigation Satellite System (GNSS) denied environments by an autonomous communication-aware and collaborative group of Unmanned Aerial Vehicles (UAVs) presents significant challenges in coordination,…

Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, especially when performing tasks that involve locating and…

In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem…

This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…

Domestic service robots offer a solution to the increasing demand for daily care and support. A human-in-the-loop approach that combines automation and operator intervention is considered to be a realistic approach to their use in society.…

Recent progress in mixed reality (MR) and robotics is enabling increasingly sophisticated forms of human-robot collaboration. Building on these developments, we introduce a novel MR framework that allows multiple quadruped robots to operate…

Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…

Object-Goal Navigation (ObjectNav) requires an agent to autonomously explore an unknown environment and navigate toward target objects specified by a semantic label. While prior work has primarily studied zero-shot ObjectNav under 2D…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…

One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This…

We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different paths or surfaces typically embedded in 2D or 3D; second,…

Personalization is critical for the advancement of service robots. Robots need to develop tailored understandings of the environments they are put in. Moreover, they need to be aware of changes in the environment to facilitate long-term…

This paper presents a novel mapping approach for a universal aerial-ground robotic system utilizing a single monocular camera. The proposed system is capable of detecting a diverse range of objects and estimating their positions without…

We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…

We examine the problem of joint top-down active search of multiple objects under interaction, e.g., person riding a bicycle, cups held by the table, etc.. Such objects under interaction often can provide contextual cues to each other to…

Artificial intelligence has undergone immense growth and maturation in recent years, though autonomous systems have traditionally struggled when fielded in diverse and previously unknown environments. DARPA is seeking to change that with…

Object Tracking is essential for many computer vision applications, such as autonomous navigation, surveillance, and robotics. Unlike Passive Object Tracking (POT), which relies on static camera viewpoints to detect and track objects across…

Deploying robotic missions can be challenging due to the complexity of controlling robots with multiple degrees of freedom, fusing diverse sensory inputs, and managing communication delays and interferences. In nuclear inspection, robots…