Related papers: ARC: Alignment-based Redirection Controller for Re…
The reset technique of Redirected Walking (RDW) forcibly reorients the user's direction overtly to avoid collisions with boundaries, obstacles, or other users in the physical space. However, excessive resetting can decrease the user's sense…
Rotated object detection aims to identify and locate objects in images with arbitrary orientation. In this scenario, the oriented directions of objects vary considerably across different images, while multiple orientations of objects exist…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
We present a new approach for redirected walking in static and dynamic scenes that uses techniques from robot motion planning to compute the redirection gains that steer the user on collision-free paths in the physical space. Our first…
Humans excel in navigating diverse, complex environments with agile motor skills, exemplified by parkour practitioners performing dynamic maneuvers, such as climbing up walls and jumping across gaps. Reproducing these agile movements with…
This work presents Adaptive Robot Coordination (ARC), a novel hybrid framework for multi-robot motion planning (MRMP) that employs local subproblems to resolve inter-robot conflicts. ARC creates subproblems centered around conflicts, and…
The key innovation of our analytical method, CaRT, lies in establishing a new hierarchical, distributed architecture to guarantee the safety and robustness of a given learning-based motion planning policy. First, in a nominal setting, the…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
The ability to autonomously navigate safely, especially within dynamic environments, is paramount for mobile robotics. In recent years, DRL approaches have shown superior performance in dynamic obstacle avoidance. However, these…
Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…
Augmented Virtuality integrates physical content into virtual environments, but the occlusion of physical by virtual content is a challenge. This unwanted occlusion may disrupt user interactions with physical devices and compromise safety…
This paper presents a wearable assistive device with the shape of a pair of eyeglasses that allows visually impaired people to navigate safely and quickly in unfamiliar environment, as well as perceive the complicated environment to…
Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…
We present a change-blindness based redirected walking algorithm that allows a user to explore on foot a virtual indoor environment consisting of an infinite number of rooms while at the same time ensuring collision-free walking for the…
We present a novel metric to analyze the similarity between the physical environment and the virtual environment for natural walking in virtual reality. Our approach is general and can be applied to any pair of physical and virtual…
We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We assume that the robot detects and models nearby obstacle…
Object visual navigation aims to steer an agent toward a target object based on visual observations. It is highly desirable to reasonably perceive the environment and accurately control the agent. In the navigation task, we introduce an…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Natural walking enhances immersion in virtual environments (VEs), but physical space limitations and obstacles hinder exploration, especially in large virtual scenes. Redirected Walking (RDW) techniques mitigate this by subtly manipulating…
Vulnerable road users (VRUs) face high collision risks in mixed traffic, yet most existing safety systems prioritize driver or vehicle assistance over direct VRU support. This paper presents ARCAS, a real-time augmented reality (AR)…