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The Whole-Body Locomotion Framework (WoLF) is an end-to-end software suite devoted to the loco-manipulation of quadruped robots. WoLF abstracts the complexity of planning and control of quadrupedal robot hardware into a simple to use and…
Warehouse logistics robots will work in different warehouse environments. In order to enable robots to perceive environment and plan path faster without modifying existing warehouses, we uses monocular camera to achieve an efficient robot…
With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…
This paper introduces WOLF, a C++ estimation framework based on factor graphs and targeted at mobile robotics. WOLF can be used beyond SLAM to handle self-calibration, model identification, or the observation of dynamic quantities other…
In this paper, we present an active visual SLAM approach for omnidirectional robots. The goal is to generate control commands that allow such a robot to simultaneously localize itself and map an unknown environment while maximizing the…
RatSLAM is a rat hippocampus-inspired visual Simultaneous Localization and Mapping (SLAM) framework capable of generating semi-metric topological representations of indoor and outdoor environments. Whisker-RatSLAM is a 6D extension of the…
This paper presents the development of a Simultaneous Localization and Mapping (SLAM) based Autonomous Navigation system. The motivation for this study was to find a solution for navigating interior spaces autonomously. Interior navigation…
Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and other natural environments. The elongated, laterally-narrow…
Recent advances in foundation models have shown promising results in developing generalist robotics that can perform diverse tasks in open-ended scenarios given multimodal inputs. However, current work has been mainly focused on indoor,…
Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike robots, humans navigate not only through spatial awareness and…
A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes.…
The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to…
Robust SLAM is a crucial enabler for autonomous navigation in natural, semi-structured environments such as parks and gardens. However, these environments present unique challenges for SLAM due to frequent seasonal changes, varying light…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
Biologically inspired algorithms for simultaneous localization and mapping (SLAM) such as RatSLAM have been shown to yield effective and robust robot navigation in both indoor and outdoor environments. One drawback however is the…
Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…
Distributed as an open source library since 2013, RTAB-Map started as an appearance-based loop closure detection approach with memory management to deal with large-scale and long-term online operation. It then grew to implement Simultaneous…
Cloud Robotics is one of the emerging area of robotics. It has created a lot of attention due to its direct practical implications on Robotics. In Cloud Robotics, the concept of cloud computing is used to offload computational extensive…
For mobile robots, mobile manipulators, and autonomous vehicles to safely navigate around populous places such as streets and warehouses, human observers must be able to understand their navigation intent. One way to enable such…