Related papers: Autonomous bot with ML-based reactive navigation f…
In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents,…
Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
During visuomotor tasks, robots must compensate for temporal delays inherent in their sensorimotor processing systems. Delay compensation becomes crucial in a dynamic environment where the visual input is constantly changing, e.g., during…
A reactive obstacle avoidance method for mobile manipulators is presented. The objectives of the developed algorithm are twofold. The first one is to find a trajectory in the configuration space of a mobile manipulator so as to follow a…
Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…
In a typical path planning pipeline for a ground robot, we build a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating indoors, a ground robot's knowledge about the environment may be limited due to…
We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…
In this paper, we present a robotic navigation algorithm with natural language interfaces, which enables a robot to safely walk through a changing environment with moving persons by following human instructions such as "go to the restaurant…
Autonomous navigation capabilities play a critical role in service robots operating in environments where human interactions are pivotal, due to the dynamic and unpredictable nature of these environments. However, the variability in human…
Biologically inspired algorithms for simultaneous localization and mapping (SLAM) such as RatSLAM have been shown to yield effective and robust robot navigation in both indoor and outdoor environments. One drawback however is the…
Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…
Reinforcement learning is of increasing importance in the field of robot control and simulation plays a~key role in this process. In the unmanned aerial vehicles (UAVs, drones), there is also an increase in the number of published…
It is important for robots to be able to decide whether they can go through a space or not, as they navigate through a dynamic environment. This capability can help them avoid injury or serious damage, e.g., as a result of running into…
Mobile robots in unstructured, mapless environments must rely on an obstacle avoidance module to navigate safely. The standard avoidance techniques estimate the locations of obstacles with respect to the robot but are unaware of the…
Ensuring safe navigation in complex environments requires accurate real-time traversability assessment and understanding of environmental interactions relative to the robot`s capabilities. Traditional methods, which assume simplified…
We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…
Autonomous navigation in off-road environments remains a significant challenge in field robotics, particularly for Unmanned Ground Vehicles (UGVs) tasked with search and rescue, exploration, and surveillance. Effective long-range planning…
Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots,…