Related papers: TEAM: Trilateration for Exploration and Mapping wi…
Limbed climbing robots are designed to explore challenging vertical walls, such as the skylights of the Moon and Mars. In such robots, the primary role of a hand-eye camera is to accurately estimate 3D positions of graspable points (i.e.,…
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…
Ultra-wideband (UWB) technology has shown remarkable potential as a low-cost general solution for robot localization. However, limitations of the UWB signal for precise positioning arise from the disturbances caused by the environment…
Task generation for underwater multi-robot inspections without prior knowledge of existing geometry can be achieved and optimized through examination of simultaneous localization and mapping (SLAM) data. By considering hardware parameters…
Localization systems intended for home use by people with mild cognitive impairment should comply with specific requirements. They should provide the users with sub-meter accuracy allowing for analyzing patient's movement trajectory and be…
In search and rescue missions, time is an important factor; fast navigation and quickly acquiring situation awareness might be matters of life and death. Hence, the use of robots in such scenarios has been restricted by the time needed to…
Radio-based localization systems conventionally require stationary reference points (e.g. anchors) with precisely surveyed positions, making deployment time-consuming and costly. This paper presents an empirical evaluation of collaborative…
Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…
The subject is the localization problem of an underwater swarm of autonomous underwater robots (AUV), in the frame of the HARNESS project; by localization, we mean the relative swarm configuration, i.e., the geometrical shape of the group.…
We are interested in long-term deployments of autonomous robots to aid astronauts with maintenance and monitoring operations in settings such as the International Space Station. Unfortunately, such environments tend to be highly dynamic and…
We present a map-less path planning algorithm based on Deep Reinforcement Learning (DRL) for mobile robots navigating in unknown environment that only relies on 40-dimensional raw laser data and odometry information. The planner is trained…
There has been a growing interest in autonomous systems designed to operate in adverse conditions (e.g. smoke, dust), where the visible light spectrum fails. In this context, Ultra-wideband (UWB) radar is capable of penetrating through such…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
A Simultaneous Localization and Mapping (SLAM) system must be robust to support long-term mobile vehicle and robot applications. However, camera and LiDAR based SLAM systems can be fragile when facing challenging illumination or weather…
Mapping expansive regions is an arduous and often times incomplete when performed by a single agent. In this paper we illustrate an extension of \texttt{Full SLAM} \cite{Dellaert06ijrr} and \cite{dong}, which ensures smooth maps with…
A large number of problems in computer vision can be modelled as energy minimization problems in a Markov Random Field (MRF) or Conditional Random Field (CRF) framework. Graph-cuts based $\alpha$-expansion is a standard move-making method…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
Among the abilities that autonomous mobile robots should exhibit, map building and localization are definitely recognized as fundamental. Consequently, countless algorithms for solving the Simultaneous Localization And Mapping (SLAM)…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…