Related papers: Using multiple sensors for autonomous mobile robot…
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…
Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on…
This paper proposes a state-machine model for a multi-modal, multi-robot environmental sensing algorithm. This multi-modal algorithm integrates two different exploration algorithms: (1) coverage path planning using variable formations and…
Inferring walls configuration of indoor environment could help robot "understand" the environment better. This allows the robot to execute a task that involves inter-room navigation, such as picking an object in the kitchen. In this paper,…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
In this paper, we focus on the multi-object tracking (MOT) problem of automatic driving and robot navigation. Most existing MOT methods track multiple objects using a singular RGB camera, which are prone to camera field-of-view and suffer…
To implement autonomous driving, one essential step is to model the vehicle environment based on the sensor inputs. Radars, with their well-known advantages, became a popular option to infer the occupancy state of grid cells surrounding the…
We present a tool AUTONAV that automates the mapping, localization, and path-planning tasks for autonomous navigation of robots. The modular architecture allows easy integration of various algorithms for these tasks for comparison. We…
This paper presents a multi-sensor fusion strategy for a novel road-matching method designed to support real-time navigational features within advanced driving-assistance systems. Managing multihypotheses is a useful strategy for the…
Long-duration, off-road, autonomous missions require robots to continuously perceive their surroundings regardless of the ambient lighting conditions. Most existing autonomy systems heavily rely on active sensing, e.g., LiDAR, RADAR, and…
Human-guided robotic exploration is a useful approach to gathering information at remote locations, especially those that might be too risky, inhospitable, or inaccessible for humans. Maintaining common ground between the remotely-located…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Biologically inspired algorithms for simultaneous localization and mapping (SLAM) such as RatSLAM have been shown to yield effective and robust robot navigation in both indoor and outdoor environments. One drawback however is the…
While 2D occupancy maps commonly used in mobile robotics enable safe navigation in indoor environments, in order for robots to understand and interact with their environment and its inhabitants representing 3D geometry and semantic…
Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…
This paper presents a novel approach to build consistent 3D maps for multi robot cooperation in USAR environments. The sensor streams from unmanned aerial vehicles (UAVs) and ground robots (UGV) are fused in one consistent map. The UAV…
This paper suggests an integrated navigation system for an unmanned ground vehicle operating in an unknown cluttered environment. The navigator supports time-critical mobility making it possible for a mobile robot to reach a target from the…
In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…