Related papers: Enough is Enough: Towards Autonomous Uncertainty-d…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…
In this paper, we propose an integrated framework for the autonomous robotic exploration in indoor environments. Specially, we present a hybrid map, named Semantic Road Map (SRM), to represent the topological structure of the explored…
The emergence of mobile robotics, particularly in the automotive industry, introduces a promising era of enriched user experiences and adept handling of complex navigation challenges. The realization of these advancements necessitates a…
Advanced communication protocols are critical to enable the coexistence of autonomous robots with humans. Thus, the development of explanatory capabilities is an urgent first step toward autonomous robots. This survey provides an overview…
This paper introduces an extension to the arbitration graph framework designed to enhance the safety and robustness of autonomous systems in complex, dynamic environments. Building on the flexibility and scalability of arbitration graphs,…
Developing and fielding complex systems requires proof that they are reliably correct with respect to their design and operating requirements. Especially for autonomous systems which exhibit unanticipated emergent behavior, fully…
We study the variant of Particle Swarm Optimization (PSO) that applies random velocities in a dimension instead of the regular velocity update equations as soon as the so-called potential of the swarm falls below a certain bound in this…
Autonomous space vehicles need adaptive control strategies that can accommodate unanticipated environmental conditions. The evaluation of new strategies can often be done only by actually trying them out in the real physical environment.…
Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions…
Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…
Autonomous driving systems have witnessed a significant development during the past years thanks to the advance in machine learning-enabled sensing and decision-making algorithms. One critical challenge for their massive deployment in the…
Robots operating in dynamic environments face significant challenges due to the presence of moving agents and displaced objects. Traditional SLAM systems typically assume a static world or treat dynamic as outliers, discarding their…
Verification and validation are major challenges for developing automated driving systems. A concept that gets more and more recognized for testing in automated driving is scenario-based testing. However, it introduces the problem of what…
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…
Safe autonomous exploration of unknown environments is an essential skill for mobile robots to effectively and adaptively perform environmental mapping for diverse critical tasks. Due to its simplicity, most existing exploration methods…
Robots will bring search and rescue (SaR) in disaster response to another level, in case they can autonomously take over dangerous SaR tasks from humans. A main challenge for autonomous SaR robots is to safely navigate in cluttered…
The recent increase in yearly spacecraft launches and the high number of planned launches have raised questions about maintaining accessibility to space for all interested parties. A key to sustaining the future of space-flight is the…
The effectiveness of a robot manipulation to a large extent is determined by the speed of making this or that movement needed for carrying out the task. Accordingly to this the problem of optimal robot control is often subdivided into two…
In this paper, we propose a method that, given a partial grid map of an indoor environment built by an autonomous mobile robot, estimates the amount of the explored area represented in the map, as well as whether the uncovered part is still…