Related papers: Streaming Scene Maps for Co-Robotic Exploration in…
Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…
In this paper, we explore the challenging 1-to-N map matching problem, which exploits a compact description of map data, to improve the scalability of map matching techniques used by various robot vision tasks. We propose a first method…
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…
Traditional path-planning techniques treat humans as obstacles. This has changed since robots started to enter human environments. On modern robots, social navigation has become an important aspect of navigation systems. To use…
Recently neural scene representations have provided very impressive results for representing 3D scenes visually, however, their study and progress have mainly been limited to visualization of virtual models in computer graphics or scene…
Robotic mapping is useful in scientific applications that involve surveying unstructured environments. This paper presents a target-oriented mapping system for sparsely distributed geologic surface features, such as precariously balanced…
Robots are increasingly used to carry out critical missions in extreme environments that are hazardous for humans. This requires a high degree of operational autonomy under uncertain conditions, and poses new challenges for assuring the…
The robot exploration task has been widely studied with applications spanning from novel environment mapping to item delivery. For some time-critical tasks, such as rescue catastrophes, the agent is required to explore as efficiently as…
We present a novel POMDP problem formulation for a robot that must autonomously decide where to go to collect new and scientifically relevant images given a limited ability to communicate with its human operator. From this formulation we…
Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends scene graphs to hierarchical layers, adding and leveraging…
Low-bandwidth communication, such as underwater acoustic communication, is limited by best-case data rates of 30--50 kbit/s. This renders such channels unusable or inefficient at best for single image, video, or other bandwidth-demanding…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
The transfer of a robot skill between different geometric environments is non-trivial since a wide variety of environments exists, sensor observations as well as robot motions are high-dimensional, and the environment might only be…
This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilities. The algorithm expands upon traditional non-graph path…
In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path planning with local geometric awareness to enable collision-free…
We propose a new probabilistic programming language for the design and analysis of cyber-physical systems, especially those based on machine learning. Specifically, we consider the problems of training a system to be robust to rare events,…
Efficient coverage of unknown environments requires robots to adapt their paths in real time based on on-board sensor data. In this paper, we introduce CAP, a connectivity-aware hierarchical coverage path planning algorithm for efficient…
This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scenes. The proposed algorithm uses a variational autoencoder to…
This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…
While 2D occupancy maps commonly used in mobile robotics enable safe navigation in indoor environments, in order for robots to understand and interact with their environment and its inhabitants representing 3D geometry and semantic…