Related papers: The Marathon 2: A Navigation System
The deployment of robot assistants in large indoor spaces has seen significant growth, with escorting tasks becoming a key application. However, most current escorting robots primarily rely on navigation-focused strategies, assuming that…
Robot Operating System (ROS) 2 is a ground-up re-design of ROS 1 to support performance critical cyber-physical systems (CPSs) using the Data Distribution Service (DDS) middleware. Accordingly, the security of ROS 2 is highly reliant on the…
Recent advances in the field of machine learning have led to new ways for mobile robots to acquire advanced navigational capabilities. However, these learning-based methods raise the possibility that learned navigation behaviors may not…
The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
When humans navigate a crowed space such as a university campus or the sidewalks of a busy street, they follow common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new algorithms that…
Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…
This paper presents a provably correct method for robot navigation in 2D environments cluttered with familiar but unexpected non-convex, star-shaped obstacles as well as completely unknown, convex obstacles. We presuppose a limited range…
We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity…
Empowering robots to navigate in a socially compliant manner is essential for the acceptance of robots moving in human-inhabited environments. Previously, roboticists have developed geometric navigation systems with decades of empirical…
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
This paper introduces SMARTmBOT, an open-source mobile robot platform based on Robot Operating System 2 (ROS2). The characteristics of the SMARTmBOT, including low-cost, modular-typed, customizable and expandable design, make it an easily…
A robot guide dog has compelling advantages over animal guide dogs for its cost-effectiveness, potential for mass production, and low maintenance burden. However, despite the long history of guide dog robot research, previous studies were…
This paper presents a comprehensive methodology for implementing knowledge graphs in ROS 2 systems, aiming to enhance the efficiency and intelligence of autonomous robotic missions. The methodology encompasses several key steps: defining…
Deploying autonomous agents in real world environments is challenging, particularly for navigation, where systems must adapt to situations they have not encountered before. Traditional learning approaches require substantial amounts of…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…
Real-life robot navigation involves more than just reaching a destination; it requires optimizing movements while addressing scenario-specific goals. An intuitive way for humans to express these goals is through abstract cues like verbal…
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window Approach, Model Predictive Control, and more recently, Control…