Related papers: Reactive Navigation Framework for Mobile Robots by…
Visual navigation for robotics is inspired by the human ability to navigate environments using visual cues and memory, eliminating the need for detailed maps. In unseen, unmapped, or GPS-denied settings, traditional metric map-based methods…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Minimising the discomfort caused by robots when navigating in social situations is crucial for them to be accepted. The paper presents a machine learning-based framework that bootstraps existing one-dimensional datasets to generate a cost…
We propose a novel type of map for visual navigation, a renderable neural radiance map (RNR-Map), which is designed to contain the overall visual information of a 3D environment. The RNR-Map has a grid form and consists of latent codes at…
Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory…
Our brain has an inner global positioning system which enables us to sense and navigate 3D spaces in real time. Can mobile robots replicate such a biological feat in a dynamic environment? We introduce the first spatial reasoning framework…
In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…
Path planning is a basic capability of autonomous mobile robots. Former approaches in path planning exploit only the given geometric information from the environment without leveraging the inherent semantics within the environment. The…
The quality of the visual feedback can vary significantly on a legged robot that is meant to traverse unknown and unstructured terrains. The map of the environment, acquired with online state-of-the-art algorithms, often degrades after a…
Despite recent progress improving the efficiency and quality of motion planning, planning collision-free and dynamically-feasible trajectories in partially-mapped environments remains challenging, since constantly replanning as unseen…
This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…
With the goal of efficiently computing collision-free robot motion trajectories in dynamically changing environments, we present results of a novel method for Heuristics Informed Robot Online Path Planning (HIRO). Dividing robot…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
This paper investigates the resilient control, analysis, recovery, and operation of mobile robot networks in time-varying formation tracking under deception attacks on global positioning. Local and global tracking control algorithms are…
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…
Autonomous navigation in mobile robots, reliant on perception and planning, faces major hurdles in large-scale, complex environments. These include heavy computational burdens for mapping, sensor occlusion failures for UAVs, and traversal…
Robot path planning plays a pivotal role in enabling autonomous systems to navigate safely and efficiently in complex and uncertain environments. Despite extensive research on classical graph-based methods and sampling-based planners,…
Achieving long term autonomy of robots operating in dynamic environments such as farms remains a significant challenge. Arguably, the most demanding factors to achieve this are the on-board resource constraints such as energy, planning in…