Related papers: Autonomous, Monocular, Vision-Based Snake Robot Na…
Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…
Robots operating in the open world encounter various different environments that can substantially differ from each other. This domain gap also poses a challenge for Simultaneous Localization and Mapping (SLAM) being one of the fundamental…
This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…
Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground contacts, a path is considered safe if it is obstacle-free and…
Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…
Simultaneous localization and mapping (SLAM) is one of the key components of a control system that aims to ensure autonomous navigation of a mobile robot in unknown environments. In a variety of practical cases a robot might need to travel…
Gaits engineered for snake-like robots to rotate in-place instrumentally fill a gap in the set of locomotive gaits that have traditionally prioritized translation. This paper designs a Turn-in-Place gait and demonstrates the ability of a…
The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so…
Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…
With the rise of deep learning, there is a fundamental change in visual SLAM algorithms toward developing different modules trained as end-to-end pipelines. However, regardless of the implementation domain, visual SLAM's performance is…
Visual robot self-localization is a fundamental problem in visual robot navigation and has been studied across various problem settings, including monocular and sequential localization. However, many existing studies focus primarily on…
At modern construction sites, utilizing GNSS (Global Navigation Satellite System) to measure the real-time location and orientation (i.e. pose) of construction machines and navigate them is very common. However, GNSS is not always…
This paper presents a monocular vision system susceptible of being installed in unmanned small and medium-sized aerial vehicles built to perform missions in forest environments (e.g., search and rescue). The proposed system extends a…
We present a novel autonomous robot navigation algorithm for outdoor environments that is capable of handling diverse terrain traversability conditions. Our approach, VLM-GroNav, uses vision-language models (VLMs) and integrates them with…
Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost…
Autonomous robots use simultaneous localization and mapping (SLAM) for efficient and safe navigation in various environments. LiDAR sensors are integral in these systems for object identification and localization. However, LiDAR systems…
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…
Similar to their counterparts in nature, the flexible bodies of snake-like robots enhance their movement capability and adaptability in diverse environments. However, this flexibility corresponds to a complex control task involving highly…
The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to…
A major limitation of minimally invasive surgery is the difficulty in accurately locating the internal anatomical structures of the target organ due to the lack of tactile feedback and transparency. Augmented reality (AR) offers a promising…