Related papers: An Active Sense and Avoid System for Flying Robots…
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…
Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stationary cameras outside the robotic arm's workspace. These…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…
In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents,…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…
In this paper we present a novel method for obstacle avoidance using the stereo camera. The conventional obstacle avoidance methods and their limitations are discussed. A new algorithm is developed for the real-time obstacle avoidance which…
Vision-based object tracking is a critical component for achieving autonomous aerial navigation, particularly for obstacle avoidance. Neuromorphic Dynamic Vision Sensors (DVS) or event cameras, inspired by biological vision, offer a…
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…
The autonomous operation of small quadcopters moving at high speed in an unknown cluttered environment is a challenging task. Current works in the literature formulate it as a Sense-And-Avoid (SAA) problem and address it by either…
Autonomous Underwater Vehicles (AUVs) have advanced significantly in obstacle detection and path planning through sonar, cameras, and learning-based methods. However, safe and efficient navigation in cluttered environments remains…
Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data…
Humans are remarkable at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance robust to partial and poor…
Getting robots to navigate to multiple objects autonomously is essential yet difficult in robot applications. One of the key challenges is how to explore environments efficiently with camera sensors only. Existing navigation methods mainly…
The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…
The high mobility of unmanned aerial vehicles (UAVs) enables them to be used in various civilian fields, such as rescue and cargo transport. Path-following is a crucial way to perform these tasks while sensing and collision avoidance are…
The development of autonomous lightweight MAVs, capable of navigating in unknown indoor environments, is one of the major challenges in robotics. The complexity of this challenge comes from constraints on weight and power consumption of…
In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…
Mobile robots in unstructured, mapless environments must rely on an obstacle avoidance module to navigate safely. The standard avoidance techniques estimate the locations of obstacles with respect to the robot but are unaware of the…
This paper presents our method for enabling a UAV quadrotor, equipped with a monocular camera, to autonomously avoid collisions with obstacles in unstructured and unknown indoor environments. When compared to obstacle avoidance in ground…
Reliable onboard perception is critical for quadruped robots navigating dynamic environments, where obstacles can emerge from any direction under strict reaction-time constraints. Single-sensor systems face inherent limitations: LiDAR…