Related papers: Towards S-NAMO: Socially-aware Navigation Among Mo…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Autonomous navigation of car-like robots on uneven terrain poses unique challenges compared to flat terrain, particularly in traversability assessment and terrain-associated kinematic modelling for motion planning. This paper introduces…
The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…
The proliferation of robots in public spaces necessitates a deeper understanding of how these robots can interact with those they share the space with. In this paper, we present findings from video analysis of publicly deployed cleaning…
Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…
The ability to autonomously explore and navigate a physical space is a fundamental requirement for virtually any mobile autonomous agent, from household robotic vacuums to autonomous vehicles. Traditional SLAM-based approaches for…
Predicting future trajectories of nearby objects, especially under occlusion, is a crucial task in autonomous driving and safe robot navigation. Prior works typically neglect to maintain uncertainty about occluded objects and only predict…
This work tackles scene understanding for outdoor robotic navigation, solely relying on images captured by an on-board camera. Conventional visual scene understanding interprets the environment based on specific descriptive categories.…
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…
We propose VLM-Social-Nav, a novel Vision-Language Model (VLM) based navigation approach to compute a robot's motion in human-centered environments. Our goal is to make real-time decisions on robot actions that are socially compliant with…
Navigation is a must-have skill for any mobile robot. A core challenge in navigation is the need to account for an ample number of possible configurations of environment and navigation contexts. We claim that a mobile robot should be able…
Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…
Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when…
Multiple object tracking is a critical task in autonomous driving. Existing works primarily focus on the heuristic design of neural networks to obtain high accuracy. As tracking accuracy improves, however, neural networks become…
To achieve autonomy in unknown and unstructured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is crucial for safe and efficient robot navigation in environment with…
Autonomous driving systems must operate smoothly in human-populated indoor environments, where challenges arise including limited perception and occlusions when relying only on onboard sensors, as well as the need for socially compliant…
In urban cities, with increasing acceptability of shared spaces used by pedestrians and personal mobility devices (PMDs), there is need for pragmatic socially ac-ceptable path planning and navigation management policies. Hence, we propose a…
Social navigation is the capability of an autonomous agent, such as a robot, to navigate in a 'socially compliant' manner in the presence of other intelligent agents such as humans. With the emergence of autonomously navigating mobile…
Several planners have been developed to compute dynamically feasible, collision-free robot paths from an initial to a goal configuration. A key assumption in these works is that the goal region is reachable; an assumption that often fails…
We present an end-to-end online motion planning framework that uses a data-driven approach to navigate a heterogeneous robot team towards a global goal while avoiding obstacles in uncertain environments. First, we use stochastic model…