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Occupancy Grids have been widely used for perception of the environment as they allow to model the obstacles in the scene, as well as free and unknown space. Recently, there has been a growing interest in the unknown space due to the…
We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…
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…
Planning a path for a mobile robot typically requires building a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating in an unknown environment, the map built by the robot online may have many…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
This paper presents a method for robotic monitoring missions in the presence of moving obstacles. Although the scenario map is known, the robot lacks information about the movement of dynamic obstacles during the monitoring mission.…
In this paper, we propose a new method for multirotor planning in dynamic environments. The environment is represented as a temporal occupancy grid which gives the current as well as the future/predicted state of all the obstacles. The…
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…
Mobile robots should be aware of their situation, comprising the deep understanding of their surrounding environment along with the estimation of its own state, to successfully make intelligent decisions and execute tasks autonomously in…
The comprehensive representation and understanding of the driving environment is crucial to improve the safety and reliability of autonomous vehicles. In this paper, we present a new approach to establish an environment model containing a…
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…
The advance towards higher levels of automation within the field of automated driving is accompanied by increasing requirements for the operational safety of vehicles. Induced by the limitation of computational resources, trade-offs between…
We present a new method of learning a continuous occupancy field for use in robot navigation. Occupancy grid maps, or variants of, are possibly the most widely used and accepted method of building a map of a robot's environment. Various…
The ability to autonomously navigate in unknown environments is important for mobile robots. The map is the core component to achieve this. Most map representations rely on drift-free state estimation and provide a global metric map to…
Efficient navigation in dynamic environments requires anticipating how motion patterns evolve beyond the robot's immediate perceptual range, enabling preemptive rather than purely reactive planning in crowded scenes. Maps of Dynamics (MoDs)…
Long-term human motion prediction (LHMP) is important for the safe and efficient operation of autonomous robots and vehicles in environments shared with humans. Accurate predictions are important for applications including motion planning,…
Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can…
In a context of autonomous robots, one of the most important task is to ensure the safety of the robot and its surrounding. Most of the time, the risk of navigation is simply said to be the probability of collision. This notion of risk is…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…
There are many challenges for robot navigation in densely populated dynamic environments. This paper presents a survey of the path planning methods for robot navigation in dense environments. Particularly, the path planning in the…