Related papers: Streaming Scene Maps for Co-Robotic Exploration in…

In this work we consider a multi-robot team operating in an unknown environment where one aerial agent is tasked to map the environment and transmit (a portion of) the mapped environment to a group of ground agents that are trying to reach…

This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings, such as cave networks and underground mines, often involve…

We consider a mission framework in which two unmanned vehicles (UVs), a leader and a wingmate, are required to provide cooperative coverage of an environment while being within a short communication range. This framework finds applications…

Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without prior information, the exploration performance is usually…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

Knowing the largest rate at which data can be sent on an end-to-end path such that the egress rate is equal to the ingress rate with high probability can be very practical when choosing transmission rates in video streaming or selecting…

Significant work has been done on advancing localization and mapping in underwater environments. Still, state-of-the-art methods are challenged by low-texture environments, which is common for underwater settings. This makes it difficult to…

This paper addresses the problem of the communication of optimally compressed information for mobile robot path-planning. In this context, mobile robots compress their current local maps to assist another robot in reaching a target in an…

Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…

Autonomous robotic exploration in remote and extreme environments allows scientists to model complex transport phenomena and collective behaviors described by continuously deforming flow fields. Although these environments are naturally…

Robotic and animal mapping systems share many challenges and characteristics: they must function in a wide variety of environmental conditions, enable the robot or animal to navigate effectively to find food or shelter, and be…

This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…

Autonomous navigation in off-road conditions requires an accurate estimation of terrain traversability. However, traversability estimation in unstructured environments is subject to high uncertainty due to the variability of numerous…

Autonomous navigation in unknown environments requires multi-scale spatial understanding that captures geometric details, topological connectivity, and global structure to support high-level decision making under partial observability.…

Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…

Modern tools for class-agnostic image segmentation (e.g., SegmentAnything) and open-set semantic understanding (e.g., CLIP) provide unprecedented opportunities for robot perception and mapping. While traditional closed-set metric-semantic…

Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…

In order for robots to follow open-ended instructions like "go open the brown cabinet over the sink", they require an understanding of both the scene geometry and the semantics of their environment. Robotic systems often handle these…

Path planning with strong environmental adaptability plays a crucial role in robotic navigation in unstructured outdoor environments, especially in the case of low-quality location and map information. The path planning ability of a robot…

Enabling robots to autonomously navigate complex environments is essential for real-world deployment. Prior methods approach this problem by having the robot maintain an internal map of the world, and then use a localization and planning…