Related papers: Obstacle avoidance and path finding for mobile rob…
In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…
This 'research preview' paper introduces an adaptive path planning framework for robotic mission execution in assistive-care applications. The framework provides a graph-based environment modelling approach, with dynamic path finding…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
Physically disentangling entangled objects from each other is a problem encountered in waste segregation or in any task that requires disassembly of structures. Often there are no object models, and, especially with cluttered irregularly…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…
Over the past few years, the use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on the ground…
Obstacle detection is one of the basic tasks of a robot movement in an unknown environment. The use of a LiDAR (Light Detection And Ranging) sensor allows one to obtain a point cloud in the vicinity of the sensor. After processing this…
This paper presents a novel obstacle avoidance system for road robots equipped with RGB-D sensor that captures scenes of its way forward. The purpose of the system is to have road robots move around autonomously and constantly without any…
It is challenging for a mobile robot to navigate through human crowds. Existing approaches usually assume that pedestrians follow a predefined collision avoidance strategy, like social force model (SFM) or optimal reciprocal collision…
During about 30 years, a lot of research teams have worked on the big challenge of detection of moving objects in various challenging environments. First applications concern static cameras but with the rise of the mobile sensors studies on…
Technology has made navigation in 3D real time possible and this has made possible what seemed impossible. This paper explores the aspect of deep visual odometry methods for mobile robots. Visual odometry has been instrumental in making…
One of the most important barriers toward a widespread use of mobile robots in unstructured and human populated work environments is the ability to plan a safe path. In this paper, we propose to delegate this activity to a human operator…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
Object detection for robot guidance is a crucial mission for autonomous robots, which has provoked extensive attention for researchers. However, the changing view of robot movement and limited available data hinder the research in this…
Mobile robots operating in crowded environments require the ability to navigate among humans and surrounding obstacles efficiently while adhering to safety standards and socially compliant mannerisms. This scale of the robot navigation…
Legged robots traversing in confined environments could find their only path is blocked by obstacles. In circumstances where the obstacles are movable, a multilegged robot can manipulate the obstacles using its legs to allow it to continue…