Related papers: Autonomous, Monocular, Vision-Based Snake Robot Na…
Snake robots offer exceptional mobility across extreme terrain inaccessible to conventional rovers, yet their highly articulated bodies present fundamental challenges for autonomous navigation in environments lacking external tracking…
Robot navigation within complex environments requires precise state estimation and localization to ensure robust and safe operations. For ambulating mobile robots like robot snakes, traditional methods for sensing require multiple embedded…
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful…
Warehouse logistics robots will work in different warehouse environments. In order to enable robots to perceive environment and plan path faster without modifying existing warehouses, we uses monocular camera to achieve an efficient robot…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
Localization and navigation are two crucial issues for mobile robots. In this paper, we propose an approach for localization and navigation systems for a differential-drive robot based on monocular SLAM. The system is implemented on the…
This work aims to develop a resource-efficient solution for obstacle-avoiding tracking control of a planar snake robot in a densely cluttered environment with obstacles. Particularly, Neuro-Evolution of Augmenting Topologies (NEAT) has been…
Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial body of control research has focused on emulating snake…
Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…
Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…
Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending capability better mimic their biological counterparts'…
In this work, we have implemented a SLAM-assisted navigation module for a real autonomous vehicle with unknown dynamics. The navigation objective is to reach a desired goal configuration along a collision-free trajectory while adhering to…
Traditional monocular Visual Simultaneous Localization and Mapping (vSLAM) systems can be divided into three categories: those that use features, those that rely on the image itself, and hybrid models. In the case of feature-based methods,…
This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
Autonomous systems possess the features of inferring their own state, understanding their surroundings, and performing autonomous navigation. With the applications of learning systems, like deep learning and reinforcement learning, the…
Limbless robots have the potential to maneuver through cluttered environments that conventional robots cannot traverse. As illustrated in their biological counterparts such as snakes and nematodes, limbless locomotors can benefit from…
Studying snake robot locomotion in a cluttered environment has been a complicated task because the motion model is discontinuous due to the physical contact with obstacles, and the contact force cannot be determined solely by contact…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
According to WHO statistics, the number of visually impaired people is increasing annually. One of the most critical necessities for visually impaired people is the ability to navigate safely. This paper proposes a navigation system based…