Related papers: Mobile Robot Navigation in Complex Polygonal Works…

This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…

We present a semantically rich graph representation for indoor robotic navigation. Our graph representation encodes: semantic locations such as offices or corridors as nodes, and navigational behaviors such as enter office or cross a…

Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from trajectory data and synthesize a tracking controller with safety…

Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…

Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…

In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…

We claim that navigation in human environments can be viewed as cooperative activity especially in constrained situations. Humans concurrently aid and comply with each other while moving in a shared space. Cooperation helps pedestrians to…

The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that…

This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…

The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…

Autonomous navigation in dynamic environment heavily depends on the environment and its topology. Prior knowledge of the environment is not usually accurate as the environment keeps evolving in time. Since robot is continuously evaluating…

This paper introduces a novel motion planning algorithm for stochastic scenarios. We extend the concept of a navigation function to such scenarios. Our main idea is to consider both the Gaussian distribution probabilities of the players'…

This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…

Empowering robots to navigate in a socially compliant manner is essential for the acceptance of robots moving in human-inhabited environments. Previously, roboticists have developed geometric navigation systems with decades of empirical…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form…

Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…

Robot navigation methods allow mobile robots to operate in applications such as warehouses or hospitals. While the environment in which the robot operates imposes requirements on its navigation behavior, most existing methods do not allow…

We consider nonconvex obstacle avoidance where a robot described by nonlinear dynamics and a nonconvex shape has to avoid nonconvex obstacles. Obstacle avoidance is a fundamental problem in robotics and well studied in control. However,…