Related papers: Agile Reactive Navigation for A Non-Holonomic Mobi…
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…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
We propose efficient distributed algorithms to aid navigation of a user through a geographic area covered by sensors. The sensors sense the level of danger at their locations and we use this information to find a safe path for the user…
We present a novel modularized end-to-end framework for legged reactive navigation in complex dynamic environments using a single light detection and ranging (LiDAR) sensor. The system comprises four simulation-trained modules: three…
We present a system that enables an autonomous small-scale RC car to drive aggressively from visual observations using reinforcement learning (RL). Our system, FastRLAP (faster lap), trains autonomously in the real world, without human…
Palm-sized autonomous nano-drones, i.e., sub-50g in weight, recently entered the drone racing scenario, where they are tasked to avoid obstacles and navigate as fast as possible through gates. However, in contrast with their bigger…
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…
In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…
Drone racing is becoming a popular sport where human pilots have to control their drones to fly at high speed through complex environments and pass a number of gates in a pre-defined sequence. In this paper, we develop an autonomous system…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…
Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…
Long-range indoor navigation requires guiding robots with noisy sensors and controls through cluttered environments along paths that span a variety of buildings. We achieve this with PRM-RL, a hierarchical robot navigation method in which…
Walking in a Virtual Environment is a bounded task. It is challenging for a subject to navigate a large virtual environment designed in a limited physical space. External hardware support may be required to achieve such an act in a concise…
Navigation is an essential capability for mobile robots. In this paper, we propose a generalized yet effective 3M (i.e., multi-robot, multi-scenario, and multi-stage) training framework. We optimize a mapless navigation policy with a robust…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
Autonomous off-road navigation requires robots to estimate terrain traversability from onboard sensors and plan motion accordingly. Conventional approaches typically rely on sampling-based planners such as MPPI to generate short-term…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
We present a decentralized path-planning algorithm for navigating multiple differential-drive robots in dense environments. In contrast to prior decentralized methods, we propose a novel congestion metric-based replanning that couples local…
In this work, we have implemented a SLAM-assisted navigation module for a real autonomous vehicle with unknown dynamics. The navigation objective is to reach a desired goal configuration along a collision-free trajectory while adhering to…