Related papers: Mobile Robot Localisation and Navigation Using LEG…
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…
Mobile robot navigation in total or partially unknown environments is still an open problem. The path planning algorithms lack completeness and/or performance. Thus, there is the need for complete (i.e., the algorithm determines in finite…
Mobile robots in real-life settings would benefit from being able to localize and track sound sources. Such a capability can help localizing a person or an interesting event in the environment, and also provides enhanced processing for…
Determining the drivable area, or free space segmentation, is critical for mobile robots to navigate indoor environments safely. However, the lack of coherent markings and structures (e.g., lanes, curbs, etc.) in indoor spaces places the…
Knowing the position of the robot in the world is crucial for navigation. Nowadays, Bayesian filters, such as Kalman and particle-based, are standard approaches in mobile robotics. Recently, end-to-end learning has allowed for scaling-up to…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
We envision that in the near future, humanoid robots would share home space and assist us in our daily and routine activities through object manipulations. One of the fundamental technologies that need to be developed for robots is to…
Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…
Self-localization is an important technology for automating bulldozers. Conventional bulldozer self-localization systems rely on RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems). However, RTK-GNSS signals are sometimes…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
In this paper, we present algorithms to identify environmental hotspots using mobile sensors. We examine two approaches: one involving a single robot and another using multiple robots coordinated through a decentralized robot system. We…
Navigation signs and maps, such as floor plans and street maps, are widely available and serve as ubiquitous aids for way-finding in human environments. Yet, they are rarely used by robot systems. This paper presents SignLoc, a global…
We present a novel approach for efficient and reliable goal-directed long-horizon navigation for a multi-robot team in a structured, unknown environment by predicting statistics of unknown space. Building on recent work in…
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…
Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
Robot localization is a one of the most important problems in robotics. Most of the existing approaches assume that the map of the environment is available beforehand and focus on accurate metrical localization. In this paper, we address…
Indoor positioning systems (IPSs) have gained attention as outdoor navigation becomes prevalent in everyday life. Research is being actively conducted on how indoor smartphone navigation can be accomplished and improved using received…