Related papers: Simulation Framework for Mobile Robots in Planetar…
Mobile robots should be aware of their situation, comprising the deep understanding of their surrounding environment along with the estimation of its own state, to successfully make intelligent decisions and execute tasks autonomously in…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
Collaborative navigation of heterogeneous robots in unknown environments poses significant challenges due to sensing, communication, and computational limitations. In this work, a lead robot navigates toward a target while a mobile sensor…
Deep-sea robot operations demand a high level of safety, efficiency and reliability. As a consequence, measures within the development stage have to be implemented to extensively evaluate and benchmark system components ranging from data…
Soil assessment is important for mobile robot planning and navigation on natural and planetary environments. Terramechanic characteristics can be inferred from the thermal behaviour of soils under the influence of sunlight using remote…
The development process of high-fidelity SLAM systems depends on their validation upon reliable datasets. Towards this goal, we propose IBISCape, a simulated benchmark that includes data synchronization and acquisition APIs for telemetry…
Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…
This paper introduces an Online Localisation and Colored Mesh Reconstruction (OLCMR) ROS perception architecture for ground exploration robots aiming to perform robust Simultaneous Localisation And Mapping (SLAM) in challenging unknown…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
The application of vision-language models (VLMs) has achieved impressive success in various robotics tasks. However, there are few explorations for these foundation models used in quadruped robot navigation through terrains in 3D…
This paper describes the architecture and demonstrates the capabilities of a newly developed, physically-based imaging simulator environment called SISPO, developed for small solar system body fly-by and terrestrial planet surface mission…
Lidar-based SLAM systems are highly sensitive to adverse conditions such as occlusion, noise, and field-of-view (FoV) degradation, yet existing robustness evaluation methods either lack physical grounding or do not capture sensor-specific…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
In the context of Intelligent Transportation Systems and the delivery of goods, new technology approaches need to be developed in order to cope with certain challenges that last mile delivery entails, such as navigation in an urban…
Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…