Related papers: Fully-simulated Integration of Scamp5d Vision Syst…
In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…
Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital…
Taking over arbitrary tasks like humans do with a mobile service robot in open-world settings requires a holistic scene perception for decision-making and high-level control. This paper presents a human-inspired scene perception model to…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…
This work presents a comprehensive benchmark evaluation of visual odometry (VO) and visual SLAM (VSLAM) systems for mobile robot navigation in real-world logistical environments. We compare multiple visual odometry approaches across…
Being able to explore an environment and understand the location and type of all objects therein is important for indoor robotic platforms that must interact closely with humans. However, it is difficult to evaluate progress in this area…
We discuss and predict the evolution of Simultaneous Localisation and Mapping (SLAM) into a general geometric and semantic `Spatial AI' perception capability for intelligent embodied devices. A big gap remains between the visual perception…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
We present a new interface for controlling a navigation robot in novel environments using coordinated gesture and language. We use a TurtleBot3 robot with a LIDAR and a camera, an embodied simulation of what the robot has encountered while…
Research on sixth-generation (6G) integrated sensing and communication (ISAC) increasingly depends on multimodal datasets. These datasets need to jointly characterize wireless propagation, onboard sensing, and platform mobility. Existing…
Service robotics is recently enhancing precision agriculture enabling many automated processes based on efficient autonomous navigation solutions. However, data generation and infield validation campaigns hinder the progress of large-scale…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere…
The present paper proposes optimization-based solutions to visual SLAM with a vehicle-mounted surround-view camera system. Owing to their original use-case, such systems often only contain a single camera facing into either direction and…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring unknown environments is that the robot has to plan with the…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
Recent progress in mixed reality (MR) and robotics is enabling increasingly sophisticated forms of human-robot collaboration. Building on these developments, we introduce a novel MR framework that allows multiple quadruped robots to operate…