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Robots and self-driving vehicles face a number of challenges when navigating through real environments. Successful navigation in dynamic environments requires prioritizing subtasks and monitoring resources. Animals are under similar…
Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…
The performance of state-of-the-art object detectors degrades significantly under adverse weather, causing a safety-critical domain shift problem for autonomous vehicles. Recent efforts address this problem by relying on synthetic data to…
Many LiDAR place recognition systems have been developed and tested specifically for urban driving scenarios. Their performance in natural environments such as forests and woodlands have been studied less closely. In this paper, we analyzed…
Autonomous vehicles (AVs) rely on environment perception and behavior prediction to reason about agents in their surroundings. These perception systems must be robust to adverse weather such as rain, fog, and snow. However, validation of…
Localization without Global Navigation Satellite Systems (GNSS) is a critical functionality in autonomous operations of unmanned aerial vehicles (UAVs). Vision-based localization on a known map can be an effective solution, but it is…
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…
Forests offer essential resources and services to humanity, yet preserving and restoring them presents challenges, particularly due to the limited availability of actionable data, especially in hard-to-reach areas like forest canopies.…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…
Automated driving technology has gained a lot of momentum in the last few years. For the exploration field, navigation is the important key for autonomous operation. In difficult scenarios such as snowy environment, the road is covered with…
Autonomous off-road navigation is required for applications in agriculture, construction, search and rescue and defence. Traditional on-road autonomous methods struggle with dynamic terrains, leading to poor vehicle control in off-road…
Robust and persistent localisation is essential for ensuring the safe operation of autonomous vehicles. When operating in large and diverse urban driving environments, autonomous vehicles are frequently exposed to situations that violate…
We present a vision-based navigation system for under-canopy agricultural robots using semantic keypoints. Autonomous under-canopy navigation is challenging due to the tight spacing between the crop rows ($\sim 0.75$ m), degradation in…
When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unmanned ground vehicle (UGV) to perform its duties or learn…
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…
Localization for autonomous vehicles on highways remains under-explored compared to urban roads, and state-of-the-art methods for urban scenes degrade when directly applied to highways. We identify key challenges including environment…
Autonomous navigation in ice-covered waters poses significant challenges due to the frequent lack of viable collision-free trajectories. When complete obstacle avoidance is infeasible, it becomes imperative for the navigation strategy to…
Increased growth in the global Unmanned Aerial Vehicles (UAV) (drone) industry has expanded possibilities for fully autonomous UAV applications. A particular application which has in part motivated this research is the use of UAV in wide…
Monitoring large scale environments is a crucial task for managing remote alpine environments, especially for hazardous events such as avalanches. One key information for avalanche risk forecast is imagery of released avalanches. As these…
Despite decades of efforts, robot navigation in a real scenario with volatility, uncertainty, complexity, and ambiguity (VUCA for short), remains a challenging topic. Inspired by the central nervous system (CNS), we propose a hierarchical…