Related papers: Real-Time Robotic Search using Hierarchical Spatia…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use prehensile picking and in-workspace placing actions. The…
Firefighting is a complex, yet low automated task. To mitigate ergonomic and safety related risks on the human operators, robots could be deployed in a collaborative approach. To allow human-robot teams in firefighting, important basics are…
Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…
Real-world multi-agent planning problems cannot be solved using decision-theoretic planning methods due to the exponential complexity. We approximate firefighting in rescue simulation as a spatially distributed task and model with…
Search and rescue (SAR) missions require reliable search methods to locate survivors, especially in challenging or inaccessible environments. This is why introducing unmanned aerial vehicles (UAVs) can be of great help to enhance the…
This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their…
Sampling-based algorithms solve the path planning problem by generating random samples in the search-space and incrementally growing a connectivity graph or a tree. Conventionally, the sampling strategy used in these algorithms is biased…
The fast-growing demand for fully autonomous robots in shared spaces calls for the development of trustworthy agents that can safely and seamlessly navigate in crowded environments. Recent models for motion prediction show promise in…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
In this paper, we describe a representation for spatial information, called the stochastic map, and associated procedures for building it, reading information from it, and revising it incrementally as new information is obtained. The map…
The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…
We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…
Spatial search problems abound in the real world, from locating hidden nuclear or chemical sources to finding skiers after an avalanche. We exemplify the formalism and solution for spatial searches involving two agents that may or may not…
Short-term disease forecasting at specific discrete spatial resolutions has become a high-impact decision-support tool in health planning. However, when the number of areas is very large obtaining predictions can be computationally…
This study investigates the spatial distribution of emergency alarm call events to identify spatial covariates associated with the events and discern hotspot regions for the events. The study is motivated by the problem of developing…
Researchers are exploring Augmented Reality (AR) interfaces for online robot programming to streamline automation and user interaction in variable manufacturing environments. This study introduces an AR interface for online programming and…
We extend Random Access, a fundamental operation that enables efficient search and exploration algorithms, to the modern interactive data systems based on Ranked Retrieval and Similarity Search, where orderings are dynamically defined over…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…