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Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…
The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…
Lidar sensors are widely used in various applications, ranging from scientific fields over industrial use to integration in consumer products. With an ever growing number of different driver assistance systems, they have been introduced to…
The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Mobile robots equipped with multiple light detection and ranging (LiDARs) and capable of recognizing their surroundings are increasing due to the minitualization and cost reduction of LiDAR. This paper proposes a target-less extrinsic…
Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…
In the rapidly evolving landscape of autonomous mobile robots, the emphasis on seamless human-robot interactions has shifted towards autonomous decision-making. This paper delves into the intricate challenges associated with robotic…
Intelligent robots provide a new insight into efficiency improvement in industrial and service scenarios to replace human labor. However, these scenarios include dense and dynamic obstacles that make motion planning of robots challenging.…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…
There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…
The efficiency of sampling-based motion planning brings wide application in autonomous mobile robots. The conventional rapidly exploring random tree (RRT) algorithm and its variants have gained significant successes, but there are still…
Occlusion is a key factor leading to detection failures. This paper proposes a motion-assisted detection (MAD) method that actively plans an executable path, for the robot to observe the target at a new viewpoint with potentially reduced…
Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…
This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
Foresighted robot navigation in dynamic indoor environments with cost-efficient hardware necessitates the use of a lightweight yet dependable controller. So inferring the scene dynamics from sensor readings without explicit object tracking…