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We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for…
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…
We consider the following problem: a team of robots is deployed in an unknown environment and it has to collaboratively build a map of the area without a reliable infrastructure for communication. The backbone for modern mapping techniques…
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…
As mobile robots find increasing use in outdoor applications, designing energy-efficient robot navigation algorithms is gaining importance. There are two primary approaches to energy efficient navigation: Offline approaches rely on a…
A key challenge in robot manipulation lies in developing policy models with strong spatial understanding, the ability to reason about 3D geometry, object relations, and robot embodiment. Existing methods often fall short: 3D point cloud…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…
This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…
Perceiving the surrounding environment is crucial for autonomous mobile robots. An elevation map provides a memory-efficient and simple yet powerful geometric representation for ground robots. The robots can use this information for…
We contribute a dense SLAM system that takes a live stream of depth images as input and reconstructs non-rigid deforming scenes in real time, without templates or prior models. In contrast to existing approaches, we do not maintain any…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful…
One of the fundamental challenges in realizing the potential of legged robots is generating plans to traverse challenging terrains. Control actions must be carefully selected so the robot will not crash or slip. The high dimensionality of…
In robot navigation, generalizing quickly to unseen environments is essential. Hierarchical methods inspired by human navigation have been proposed, typically consisting of a high-level landmark proposer and a low-level controller. However,…
Quadruped robots have the distinct ability to adapt their body and step height to navigate through cluttered environments. Nonetheless, for these robots to utilize their full potential in real-world scenarios, they require awareness of…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…
This paper addresses the problem of optimizing communicated information among heterogeneous, resource-aware robot teams to facilitate their navigation. In such operations, a mobile robot compresses its local map to assist another robot in…
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…