Related papers: Multi-Mobile Robot Localization and Navigation bas…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
This paper presents a comparative study of three modes for mobile robot localization based on visual SLAM using fiducial markers (i.e., square-shaped artificial landmarks with a black-and-white grid pattern): SLAM, SLAM with a prior map,…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
We propose a method for accurately localizing ground vehicles with the aid of satellite imagery. Our approach takes a ground image as input, and outputs the location from which it was taken on a georeferenced satellite image. We perform…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered multi-mode system to achieve efficient while safe autonomous…
Visible light positioning (VLP) is an accurate indoor positioning technology that uses luminaires as transmitters. In particular, circular luminaires are a common source type for VLP, that are typically treated only as point sources for…
The world is often stricken by catastrophic disasters. On-demand drone-mounted visible light communication (VLC) networks are suitable for monitoring disaster-stricken areas for leveraging disaster-response operations. The concept of an…
Autonomous agents such as cars, robots and drones need to precisely localize themselves in diverse environments, including in GPS-denied indoor environments. One approach for precise localization is visual place recognition (VPR), which…
Robot localization is a one of the most important problems in robotics. Most of the existing approaches assume that the map of the environment is available beforehand and focus on accurate metrical localization. In this paper, we address…
Reflections of active markers in the environment are a common source of ambiguity in onboard visual relative localization. This work presents a novel approach that exploits these typically unwanted reflections for onboard relative…
Building on the unprecedented capabilities of large language models for command understanding and zero-shot recognition of multi-modal vision-language transformers, visual language navigation (VLN) has emerged as an effective way to address…
Camera-based visible light positioning (VLP) is a promising technique for accurate and low-cost indoor camera pose estimation (CPE). To reduce the number of required light-emitting diodes (LEDs), advanced methods commonly exploit LED shape…
An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable…
Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…
Estimating vehicles' locations is one of the key components in intelligent traffic management systems (ITMSs) for increasing traffic scene awareness. Traditionally, stationary sensors have been employed in this regard. The development of…
We present a novel autonomous robot navigation algorithm for outdoor environments that is capable of handling diverse terrain traversability conditions. Our approach, VLM-GroNav, uses vision-language models (VLMs) and integrates them with…
Reliability is a key factor for realizing safety guarantee of full autonomous robot systems. In this paper, we focus on reliability in mobile robot localization. Monte Carlo localization (MCL) is widely used for mobile robot localization.…
We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully…