Related papers: Fully-simulated Integration of Scamp5d Vision Syst…
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…
Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…
Rapid robotic system development sets a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present collaborative modeling that combines discrete-event models of controller software…
Sim-to-real gap has long posed a significant challenge for robot learning in simulation, preventing the deployment of learned models in the real world. Previous work has primarily focused on domain randomization and system identification to…
This paper describes a system whereby a robot detects and track human-meaningful navigational cues as it navigates in an indoor environment. It is intended as the sensor front-end for a mobile robot system that can communicate its…
Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight…
The idea of cooperative perception is to benefit from shared perception data between multiple vehicles and overcome the limitations of on-board sensors on single vehicle. However, the fusion of multi-vehicle information is still challenging…
Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the robots' locomotion and can not be applied to tasks where…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
The ability to update information acquired through various means online during task execution is crucial for a general-purpose service robot. This information includes geometric and semantic data. While SLAM handles geometric updates on 2D…
Significant challenges are posed by simulation and testing in the field of low-altitude unmanned aerial vehicle (UAV) traffic due to the high costs associated with large-scale UAV testing and the complexity of establishing low-altitude…
This paper presents the implementation of a perceptual system for a mobile robot. The system is designed and installed with modern sensors and multi-point communication channels. The goal is to equip the robot with a high level of…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…
Networks of optical oscillators simulating coupled Ising spins have been recently proposed as a heuristic platform to solve hard optimization problems. These networks, called coherent Ising machines (CIMs), exploit the fact that the…
Sim-to-real transfer remains a fundamental challenge in robot manipulation due to the entanglement of perception and control in end-to-end learning. We present a decoupled framework that learns each component where it is most reliable:…
We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…
The imagination of the surrounding environment based on experience and semantic cognition has great potential to extend the limited observations and provide more information for mapping, collision avoidance, and path planning. This paper…
Simulation has the potential to transform the development of robust algorithms for mobile agents deployed in safety-critical scenarios. However, the poor photorealism and lack of diverse sensor modalities of existing simulation engines…
Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…