Related papers: APF-PF: Probabilistic Depth Perception for 3D Reac…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
Long horizon sequential manipulation tasks are effectively addressed hierarchically: at a high level of abstraction the planner searches over abstract action sequences, and when a plan is found, lower level motion plans are generated. Such…
Collision avoidance is a problem largely studied in robotics, particularly in unmanned aerial vehicle (UAV) applications. Among the main challenges in this area are hardware limitations, the need for rapid response, and the uncertainty…
Artificial Potential Field (APF) methods are widely used for reactive flocking control, but they often suffer from challenges such as deadlocks and local minima, especially in the presence of obstacles. Existing solutions to address these…
In this paper, we study path planning algorithms of resource constrained mobile agents in unknown cluttered environments, which include but are not limited to various terrestrial missions e.g., search and rescue missions by drones in…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
As the demand for transportation through waterways continues to rise, the number of vessels plying the waters has correspondingly increased. This has resulted in a greater number of accidents and collisions between ships, some of which lead…
Obstacle avoidance from monocular images is a challenging problem for robots. Though multi-view structure-from-motion could build 3D maps, it is not robust in textureless environments. Some learning based methods exploit human demonstration…
Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
We propose BEV-Patch-PF, a GPS-free sequential geo-localization system that integrates a particle filter with learned bird's-eye-view (BEV) and aerial feature maps. From onboard RGB and depth images, we construct a BEV feature map. For each…
A 3-D spatiotemporal prediction-error filter (PEF), is used to enhance foreground/background contrast in (real and simulated) sensor image sequences. Relative velocity is utilized to extract point-targets that would otherwise be…
Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world…
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…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…
This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…
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…
As mini UAVs become increasingly useful in the civilian work domain, the need for a method for them to operate safely in a cluttered environment is growing, especially for fixed-wing UAVs as they are incapable of following the…
Collision avoidance (CA) has always been the foremost task for autonomous vehicles (AVs) under safety criteria. And path planning is directly responsible for generating a safe path to accomplish CA while satisfying other commands. Due to…
Optical flow captures the motion of pixels in an image sequence over time, providing information about movement, depth, and environmental structure. Flying insects utilize this information to navigate and avoid obstacles, allowing them to…