Related papers: A GNC Architecture for Planetary Rovers with Auton…
Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…
Global navigation satellite systems (GNSSs) are essential in providing localization and navigation services to most of the world due to their superior coverage. However, due to high pathloss and inevitable atmospheric effect, the…
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
Existing aerial robot navigation systems typically plan paths around static and dynamic obstacles, but fail to adapt when a static obstacle suddenly moves. Integrating environmental semantic awareness enables estimation of potential risks…
Accurate navigation is essential for autonomous robots and vehicles. In recent years, the integration of the Global Navigation Satellite System (GNSS), Inertial Navigation System (INS), and camera has garnered considerable attention due to…
This study proposes a schematic plan for in-situ resource utilization (ISRU) in Martian volcanic terrains. The work investigated the complexity of volcanic terrains and Martian environmental hazards and suggested comprehensive engineering…
This paper proposes a novel adaptive guidance system developed using reinforcement meta-learning with a recurrent policy and value function approximator. The use of recurrent network layers allows the deployed policy to adapt real time to…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…
Feature-based anomaly detection is widely adopted in industrial inspection due to the strong representational power of large pre-trained vision encoders. While most existing methods focus on improving within-category anomaly scoring,…
Off-road navigation is a challenging problem both at the planning level to get a smooth trajectory and at the control level to avoid flipping over, hitting obstacles, or getting stuck at a rough patch. There have been several recent works…
We present a planning framework designed for humanoid navigation over challenging terrain. This framework is designed to plan a traversable, smooth, and collision-free path using a 2.5D height map. The planner is comprised of two stages.…
This paper introduces a novel classification for Autonomous Mobile Robots (AMRs), into three phases and five steps, focusing on autonomous collision-free navigation. Additionally, it presents the main methods and widely accepted…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…
We propose AstroSLAM, a standalone vision-based solution for autonomous online navigation around an unknown target small celestial body. AstroSLAM is predicated on the formulation of the SLAM problem as an incrementally growing factor…
Planetary rover exploration is attracting renewed interest with several upcoming space missions to the Moon and Mars. However, a substantial amount of data from prior missions remain underutilized for path planning and autonomous navigation…
Language-goal aerial navigation requires UAVs to localize targets in the complex outdoors, such as urban blocks based on textual instructions. The indoor methods are often hard to scale to urban scenes due to ambiguous objects, limited…
Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive…
Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without prior information, the exploration performance is usually…
The task of maneuvering ships in confined environments is a difficult task for a human operator. One major reason is due to the complex and slow dynamics of the ship which need to be accounted for in order to successfully steer the vehicle.…
Like humans who rely on landmarks for orientation, autonomous robots depend on feature-rich environments for accurate localization. In this paper, we propose the GFM-Planner, a perception-aware trajectory planning framework based on the…