Related papers: Towards S-NAMO: Socially-aware Navigation Among Mo…
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…
In densely populated environments, socially compliant navigation is critical for autonomous robots as driving close to people is unavoidable. This manner of social navigation is challenging given the constraints of human comfort and social…
Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital…
Navigating robots discreetly in human work environments while considering the possible privacy implications of robotic tasks presents significant challenges. Such scenarios are increasingly common, for instance, when robots transport…
Micromobility, which utilizes lightweight mobile machines moving in urban public spaces, such as delivery robots and mobility scooters, emerges as a promising alternative to vehicular mobility. Current micromobility depends mostly on human…
Today, robotics is an auspicious and fast-growing branch of technology that involves the manufacturing, design, and maintenance of robot machines that can operate in an autonomous fashion and can be used in a wide variety of applications…
Current technological advances open up new opportunities for bringing human-machine interaction to a new level of human-centered cooperation. In this context, a key issue is the semantic understanding of the environment in order to enable…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
DAMON leverages manifold learning and variational autoencoding to achieve obstacle avoidance, allowing for motion planning through adaptive graph traversal in a pre-learned low-dimensional hierarchically-structured manifold graph that…
In this paper, we present foundations of the Socio-physical Model of Activities (SOMA). SOMA represents both the physical as well as the social context of everyday activities. Such tasks seem to be trivial for humans, however, they pose…
Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…
We present MOSU, a novel autonomous long-range navigation system that enhances global navigation for mobile robots through multimodal perception and on-road scene understanding. MOSU addresses the outdoor robot navigation challenge by…
Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to minimise the disruption caused to humans while moving. This implies predicting how people will move and complying with social…
This study addresses the challenge of social bipedal navigation in a dynamic, human-crowded environment, a research area largely underexplored in legged robot navigation. We present a zonotope-based framework that couples prediction and…
The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…
In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…
Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a…
In this paper, we investigate the obstacle avoidance and navigation problem in the robotic control area. For solving such a problem, we propose revised Deep Deterministic Policy Gradient (DDPG) and Proximal Policy Optimization algorithms…
The field of autonomous mobile robots has undergone dramatic advancements over the past decades. Despite achieving important milestones, several challenges are yet to be addressed. Aggregating the achievements of the robotic community as…
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…