Related papers: D-Lite: Navigation-Oriented Compression of 3D Scen…
In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
Collaborative navigation of heterogeneous robots in unknown environments poses significant challenges due to sensing, communication, and computational limitations. In this work, a lead robot navigates toward a target while a mobile sensor…
We propose Graph2Nav, a real-time 3D object-relation graph generation framework, for autonomous navigation in the real world. Our framework fully generates and exploits both 3D objects and a rich set of semantic relationships among objects…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs have emerged as a powerful semantic representation for…
In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…
3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and…
Collaborative perception in unknown environments is crucial for multi-robot systems. With the emergence of foundation models, robots can now not only perceive geometric information but also achieve open-vocabulary scene understanding.…
We propose efficient distributed algorithms to aid navigation of a user through a geographic area covered by sensors. The sensors sense the level of danger at their locations and we use this information to find a safe path for the user…
We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from an RGB camera, 3D LiDAR, and the robot's odometry sensor to…
Semantic communication emphasizes the transmission of meaning rather than raw symbols. It offers a promising solution to alleviate network congestion and improve transmission efficiency. In this paper, we propose a wireless image…
The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
This paper addresses the problem of collaborative navigation in an unknown environment, where two robots, referred to in the sequel as the Seeker and the Supporter, traverse the space simultaneously. The Supporter assists the Seeker by…
We study the problem of robot navigation in dense and interactive crowds with static constraints such as corridors and furniture. Previous methods fail to consider all types of spatial and temporal interactions among agents and obstacles,…
This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…
Autonomous robots are increasingly playing key roles as support platforms for human operators in high-risk, dangerous applications. To accomplish challenging tasks, an efficient human-robot cooperation and understanding is required. While…
Guided synthesis of high-quality 3D scenes is a challenging task. Diffusion models have shown promise in generating diverse data, including 3D scenes. However, current methods rely directly on text embeddings for controlling the generation,…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…