Related papers: Using Computer Simulations to Investigate the Pote…
According to the World Health Organization, visual impairment is estimated to affect approximately 2.2 billion people worldwide. The visually impaired must currently rely on navigational aids to replace their sense of sight, like a white…
In this paper, we present an in-depth analysis of Navigation Among Movable Obstacles (NAMO) literature, notably highlighting that social acceptability remains an unadressed problem in this robotics navigation domain. The objectives of a…
Consideration of physical dimensions of the user population is essential to design adapted environment. This variability in body dimensions (called "anthropometry") is involved in design tools commonly used today to assess user's…
The role of simulation in autonomous driving is becoming increasingly important due to the need for rapid prototyping and extensive testing. The use of physics-based simulation involves multiple benefits and advantages at a reasonable cost…
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…
Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in…
National Highway Traffic Safety Administration reported 7,345 pedestrian fatalities in the United States in 2022, making pedestrian safety a pressing issue in urban mobility. This study presents a novel probabilistic simulation framework…
The objective of the first CARLA autonomous driving challenge was to deploy autonomous driving systems to lead with complex traffic scenarios where all participants faced the same challenging traffic situations. According to the organizers,…
Most prior methods for learning navigation policies require access to simulation environments, as they need online policy interaction and rely on ground-truth maps for rewards. However, building simulators is expensive (requires manual…
Background: Spinal cord injury (SCI) can leave the affected individuals unable to ambulate. Since there are no restorative treatments for SCI, novel approaches such as brain-controlled prostheses have been sought. Our recent studies show…
Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…
The navigation of indoor spaces poses difficult challenges for individuals with visual impairments, as it requires processing of sensory information, dealing with uncertainties, and relying on assistance. To tackle these challenges, we…
As the shared micromobility becomes a part of our daily life and environment, we expect the number of low-speed modes for first-and-last mile trips to grow rapidly. The shared micomobility is expected to serve billions of humans, bringing…
The effects of traffic congestion are widespread and are an impedance to everyday life. Piecewise constant driving policies have shown promise in helping mitigate traffic congestion in simulation environments. However, no works currently…
Navigational challenges significantly impact the independence and mobility of Individuals with Visual Impairment (IVI). While numerous assistive technologies exist, their adoption remains limited due to usability challenges, financial…
We consider emergent situations that require transporting individuals from their locations to a facility using a single capacitated vehicle, where transportation duration has a negative impact on the individuals. A dispatcher determines…
Despite large advances in recent years, real-time capable motion planning for autonomous road vehicles remains a huge challenge. In this work, we present a decision module that is based on set-based reachability analysis: First, we identify…
Using Reinforcement Learning (RL) in simulation to construct policies useful in real life is challenging. This is often attributed to the sequential decision making aspect: inaccuracies in simulation accumulate over multiple steps, hence…
The application of routing algorithms to real-world situations is a widely studied research topic. Despite this, routing algorithms and applications are usually developed for a general purpose, meaning that certain groups, such as ageing…
People with impairments are not able to participate in space missions. However, this is not because they cannot; instead, spacecraft have not been designed for them. Therefore, instead of simply excluding people with impairments, they…