Related papers: Look before you sweep: Visibility-aware motion pla…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
Autonomous navigation by drones using onboard sensors combined with machine learning and computer vision algorithms is impacting a number of domains, including agriculture, logistics, and disaster management. In this paper, we examine the…
This letter suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module…
Motion planning seeks a collision-free path in a configuration space (C-space), representing all possible robot configurations in the environment. As it is challenging to construct a C-space explicitly for a high-dimensional robot, we…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
Planning in environments with moving obstacles remains a significant challenge in robotics. While many works focus on navigation and path planning in obstacle-dense spaces, traversing such congested regions is often avoidable by selecting…
Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
In this paper, we propose a novel approach to wheeled robot navigation through an environment with movable obstacles. A robot exploits knowledge about different obstacle classes and selects the minimally invasive action to perform to clear…
In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…
Modern driver assistance systems rely on a wide range of sensors (RADAR, LIDAR, ultrasound and cameras) for scene understanding and prediction. These sensors are typically used for detecting traffic participants and scene elements required…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
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…
If a robot can predict crowds in parts of its environment that are inaccessible to its sensors, then it can plan to avoid them. This paper proposes a fast, online algorithm that learns average crowd densities in different areas. It also…
Being able to explore an environment and understand the location and type of all objects therein is important for indoor robotic platforms that must interact closely with humans. However, it is difficult to evaluate progress in this area…
To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…