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Vision-based Transformer have shown huge application in the perception module of autonomous driving in terms of predicting accurate 3D bounding boxes, owing to their strong capability in modeling long-range dependencies between the visual…
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…
This paper presents a novel approach to modeling curiosity in a mobile robot, which is useful for monitoring and adaptive data collection tasks, especially in the context of long term autonomous missions where pre-programmed missions are…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing methods heavily rely on prior environmental knowledge and face…
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the…
Learning from demonstration for motion planning is an ongoing research topic. In this paper we present a model that is able to learn the complex mapping from raw 2D-laser range findings and a target position to the required steering…
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…
Despite significant algorithmic advances in vision-based positioning, a comprehensive probabilistic framework to study its performance has remained unexplored. The main objective of this paper is to develop such a framework using ideas from…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
Spacecraft relative motion planning is concerned with the design and execution of maneuvers relative to a nominal target. These types of maneuvers are frequently utilized in missions such as rendezvous and docking, satellite inspection and…
Exploration of terrestrial planets such as Mars are conducted using orbiters, landers and rovers. Cameras and instruments onboard orbiters have enabled global mapping of Mars at low spatial resolution. Landers and rovers such as the Mars…
Perception-based navigation systems are useful for unmanned ground vehicle (UGV) navigation in complex terrains, where traditional depth-based navigation schemes are insufficient. However, these data-driven methods are highly dependent on…
Timely and reliable environment perception is fundamental to safe and efficient automated driving. However, the perception of standalone intelligence inevitably suffers from occlusions. A new paradigm, Cooperative Perception (CP), comes to…
Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
This paper develops a path planner that minimizes risk (e.g. motion execution) while maximizing accumulated reward (e.g., quality of sensor viewpoint) motivated by visual assistance or tracking scenarios in unstructured or confined…