Related papers: Sample-Based Output-Feedback Navigation with Beari…

Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…

Achieving precise positioning of the mobile manipulator's base is essential for successful manipulation actions that follow. Most of the RGB-based navigation systems only guarantee coarse, meter-level accuracy, making them less suitable for…

In this paper, a new technique for camera calibration using only GPS data is presented. A new way of tracking objects that move on a plane in a video is achieved by using the location and size of the bounding box to estimate the distance,…

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…

Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…

By utilizing only depth information, the paper introduces a novel but efficient local planning approach that enhances not only computational efficiency but also planning performances for memoryless local planners. The sampling is first…

This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…

In many spatial trajectory-based applications, it is necessary to map raw trajectory data points onto road networks in digital maps, which is commonly referred to as a map-matching process. While most previous map-matching methods have…

Reinforcement learning-based policies for continuous control robotic navigation tasks often fail to adapt to changes in the environment during real-time deployment, which may result in catastrophic failures. To address this limitation, we…

Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…

This report outlines the procedure and results of an experiment to characterize a bearing-only sensor for use with PHD filter. The resulting detection, measurement, and clutter models are used for hardware and simulated experiments with a…

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…

RF-sensing, the analysis and interpretation of movement or environment-induced patterns in received electromagnetic signals, has been actively investigated for more than a decade. Since electromagnetic signals, through cellular…

Learning world models from their sensory inputs enables agents to plan for actions by imagining their future outcomes. World models have previously been shown to improve sample-efficiency in simulated environments with few objects, but have…

Wide-angle sonar mapping of the environment by mobile robot is nontrivial due to several sources of uncertainty: dropouts due to "specular" reflections, obstacle location uncertainty due to the wide beam, and distance measurement error.…

This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

We demonstrate the effectiveness of simple observer-based linear feedback policies for "pixels-to-torques" control of robotic systems using only a robot-facing camera. Specifically, we show that the matrices of an image-based Luenberger…

Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…

This paper presents a method that leverages vehicle motion constraints to refine data associations in a point-based radar odometry system. By using the strong prior on how a non-holonomic robot is constrained to move smoothly through its…