Related papers: A Realtime Autonomous Robot Navigation Framework f…
Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…
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…
In robot navigation, generalizing quickly to unseen environments is essential. Hierarchical methods inspired by human navigation have been proposed, typically consisting of a high-level landmark proposer and a low-level controller. However,…
Semantic maps represent the environment using a set of semantically meaningful objects. This representation is storage-efficient, less ambiguous, and more informative, thus facilitating large-scale autonomy and the acquisition of actionable…
We present a semantically rich graph representation for indoor robotic navigation. Our graph representation encodes: semantic locations such as offices or corridors as nodes, and navigational behaviors such as enter office or cross a…
Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
Mobile robots are increasingly required to navigate and interact within unknown and unstructured environments to meet human demands. Demand-driven navigation (DDN) enables robots to identify and locate objects based on implicit human…
Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…
Long-term 3D map management is a fundamental capability required by a robot to reliably navigate in the non-stationary real-world. This paper develops open-source, modular, and readily available LiDAR-based lifelong mapping for urban sites.…
This work presents a new iteration of the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, programmed under the ROS 2…
In this case study, we design, integrate and implement a cloud-enabled autonomous robotic navigation system. The system has the following features: map generation and robot coordination via cloud service and video streaming to allow online…
Most, if not all, robot navigation systems employ a decomposed planning framework that includes global and local planning. To trade-off onboard computation and plan quality, current systems have to limit all robot dynamics considerations…
In this paper, we present an autonomous navigation system for goal-driven exploration of unknown environments through deep reinforcement learning (DRL). Points of interest (POI) for possible navigation directions are obtained from the…
As robots become increasingly integrated into open-world, human-centered environments, their ability to interpret natural language instructions and adhere to safety constraints is critical for effective and trustworthy interaction. Existing…
Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…
As more robots are being deployed into human environments, a human-aware navigation planner needs to handle multiple contexts that occur in indoor and outdoor environments. In this paper, we propose a tunable human-aware robot navigation…
Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…
The deployment of autonomous mobile robots is predicated on the availability of environmental maps, yet conventional generation via SLAM (Simultaneous Localization and Mapping) suffers from significant limitations in time, labor, and…
Recent advances in robotics and large language models (LLMs) have sparked growing interest in human-robot collaboration and embodied intelligence. To enable the broader deployment of robots in human-populated environments, socially-aware…