Related papers: Obstacle Avoidance for Autonomous Mobile Robots Ba…
Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…
This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile robot equipped with a ranging sensor with…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
We consider problems in which a mobile robot samples an unknown function defined over its operating space, so as to find a global optimum of this function. The path traveled by the robot matters, since it influences energy and time…
Challenges persist in nonholonomic robot navigation in dynamic environments. This paper presents a framework for such navigation based on the model of generalized velocity obstacles (GVO). The idea of velocity obstacles has been well…
Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can…
Dynamic obstacle avoidance (DOA) is critical for quadrupedal robots operating in environments with moving obstacles or humans. Existing approaches typically rely on navigation-based trajectory replanning, which assumes sufficient reaction…
Distance-based reward mechanisms in deep reinforcement learning (DRL) navigation systems suffer from critical safety limitations in dynamic environments, frequently resulting in collisions when visibility is restricted. We propose DRL-NSUO,…
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…
Autonomous Mobile Robot (AMR) navigation in dynamic environments that may be GPS denied, without a-priori maps, is an unsolved problem with potential to improve humanity's capabilities. Conventional modular methods are computationally…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
Path planning is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a…
In this paper, we introduce a novel method for safe navigation in agricultural robotics. As global environmental challenges intensify, robotics offers a powerful solution to reduce chemical usage while meeting the increasing demands for…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
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 addresses the issue of motion planning in dynamic environments by extending the concept of Velocity Obstacle and Nonlinear Velocity Obstacle to Acceleration Obstacle AO and Nonlinear Acceleration Obstacle NAO. Similarly to VO and…
Mobile robots, becoming increasingly autonomous, are capable of operating in diverse and unknown environments. This flexibility allows them to fulfill goals independently and adapting their actions dynamically without rigidly predefined…
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…