Related papers: Active Metric-Semantic Mapping by Multiple Aerial …
Knowledge of terrain's physical properties inferred from color images can aid in making efficient robotic locomotion plans. However, unlike image classification, it is unintuitive for humans to label image patches with physical properties.…
Constructing a spatial map of environmental parameters is a crucial step to preventing hazardous chemical leakages, forest fires, or while estimating a spatially distributed physical quantities such as terrain elevation. Although prior…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…
Large Language Models (LLMs) can help robots reason about abstract task specifications. This requires augmenting classical representations of the environment used by robots, such as point-clouds and meshes, with natural language-based…
This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
Ambiguities are inevitable in human-robot interaction, especially when a robot follows user instructions in a large, shared space. For example, if a user asks the robot to find an object in a home environment with underspecified…
Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently arise during plan execution, such as jamming doors and fallen…
Autonomous robots can benefit greatly from human-provided semantic characterizations of uncertain task environments and states. However, the development of integrated strategies which let robots model, communicate, and act on such 'soft…
Monitoring large, unknown, and complex environments with autonomous robots poses significant navigation challenges, where deploying teams of heterogeneous robots with complementary capabilities can substantially improve both mission…
Robots often have to deal with the challenges of operating in dynamic and sometimes unpredictable environments. Although an occupancy map of the environment is sufficient for navigation of a mobile robot or manipulation tasks with a robotic…
Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for climate-relevant robotics research, identifying high-impact…
Despite the increasing prevalence of robots in daily life, their navigation capabilities are still limited to environments with prior knowledge, such as a global map. To fully unlock the potential of robots, it is crucial to enable them to…
Grounding language to a navigating agent's observations can leverage pretrained multimodal foundation models to match perceptions to object or event descriptions. However, previous approaches remain disconnected from environment mapping,…
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…
Recent advances in robotic mobile manipulation have spurred the expansion of the operating environment for robots from constrained workspaces to large-scale, human environments. In order to effectively complete tasks in these spaces, robots…
Several deployment locations of mobile robotic systems are human made (i.e. urban firefighter, building inspection, property security) and the manager may have access to domain-specific knowledge about the place, which can provide semantic…
Robots operating in complex and unknown environments frequently require geometric-semantic representations of the environment to safely perform their tasks. While inferring the environment, they must account for many possible scenarios when…
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…