Related papers: Integrity-Based Path Planning Strategy for Urban A…
While current autonomous navigation systems allow robots to successfully drive themselves from one point to another in specific environments, they typically require extensive manual parameter re-tuning by human robotics experts in order to…
LLM-based agents have demonstrated impressive zero-shot performance in vision-language navigation (VLN) task. However, existing LLM-based methods often focus only on solving high-level task planning by selecting nodes in predefined…
Modern smartphones have all the sensing capabilities required for accurate and robust navigation and tracking. In specific environments some data streams may be absent, less reliable, or flat out wrong. In particular, the GNSS signal can…
Deployment of automated ground vehicles (AGVs) beyond the confines of sunny and dry climes will require sub-lane-level positioning techniques based on radio waves rather than near-visible-light radiation. Like human sight, lidar and cameras…
Informative path planning (IPP) is used to design paths for robotic sensor platforms to extract the best/maximum possible information about a quantity of interest while operating under a set of constraints, such as the dynamic feasibility…
Autonomous navigation in unstructured natural environments poses a significant challenge. In goal navigation tasks without prior information, the limited look-ahead of onboard sensors utilised by robots compromises path efficiency. We…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…
We offer a new in-depth investigation of global path planning (GPP) for unmanned ground vehicles, an autonomous mining sampling robot named ROMIE. GPP is essential for ROMIE's optimal performance, which is translated into solving the…
This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the prior 2D navigation map via SLAM to generate a sequence of…
Given the current point-to-point navigation capabilities of autonomous vehicles, researchers are looking into complex service requests that require the vehicles to visit multiple points of interest. In this paper, we develop a layered…
The objective behind this project is to maximize the efficiency of land space, to decrease the driver stress and frustration, along with a considerable reduction in air pollution. Our contribution is in the form of an automatic parking…
This paper studies the path design problem for cellular-connected unmanned aerial vehicle (UAV), which aims to minimize its mission completion time while maintaining good connectivity with the cellular network. We first argue that the…
This paper proposes a local path planning method with a reachable set for Automated vertical Parking Systems (APS). First, given a parking lot layout with a goal position, we define an intermediate pose for the APS to accomplish reverse…
We present a novel approach for motion planning in mobile robotics under sensing and motion uncertainty based on state lattices with graduated fidelity. The probability of collision is reliably estimated considering the robot shape, and the…
Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…
The trend towards autonomous driving and the continuous research in the automotive area, like Advanced Driver Assistance Systems (ADAS), requires an accurate localization under all circumstances. An accurate estimation of the vehicle state…
Autonomous Underwater Vehicles (AUVs) encounter significant energy, control and navigation challenges in complex underwater environments, particularly during close-proximity operations, such as launch and recovery (LAR), where fluid…
This paper proposes a design for a hybrid, city-wide urban navigation system for moving agents demanding dedicated assistance. The hybrid system combines GPS and vehicle-to-vehicle communication from an ad-hoc network of parked cars, and…
In this paper, we study the trajectory optimization of a cellular-connected unmanned aerial vehicle (UAV) which aims to sense the location of a target while maintaining satisfactory communication quality with the ground base stations…
This paper addresses the advancements in on-road trajectory planning for Autonomous Passenger Vehicles (APV). Trajectory planning aims to produce a globally optimal route for APVs, considering various factors such as vehicle dynamics,…