Related papers: Intelligent Motion Planning for a Cost-effective O…
We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots sense the local surrounding environment and react to…
A remote-sensing system that can determine the position of hidden objects has applications in many critical real-life scenarios, such as search and rescue missions and safe autonomous driving. Previous work has shown the ability to range…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
Bridging the gap between motion models and reality is crucial by using limited data to deploy robots in the real world. Deep learning is expected to be generalized to diverse situations while reducing feature design costs through end-to-end…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
We revisit the linear search problem where a robot, initially placed at the origin on an infinite line, tries to locate a stationary target placed at an unknown position on the line. Unlike previous studies, in which the robot travels along…
This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scenes. The proposed algorithm uses a variational autoencoder to…
We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…
Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing practical frameworks that enable mobile manipulators to…
The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…
The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
Accurate identification of important objects in the scene is a prerequisite for safe and high-quality decision making and motion planning of intelligent agents (e.g., autonomous vehicles) that navigate in complex and dynamic environments.…
The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
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…
To help the blind people walk to the destination efficiently and safely in indoor environment, a novel wearable navigation device is presented in this paper. The locating, way-finding, route following and obstacle avoiding modules are the…
Singularity in robot controls is an important problem. By identifying an appropriate trajectory for the robots, the singular situations can be avoided. In this paper an identification algorithm is proposed to control the robot such that it…