Related papers: Active Metric-Semantic Mapping by Multiple Aerial …
This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…
Volumetric maps are widely used in robotics due to their desirable properties in applications such as path planning, exploration, and manipulation. Constant advances in mapping technologies are needed to keep up with the improvements in…
Unmanned aerial vehicles combined with computer vision systems, such as convolutional neural networks, offer a flexible and affordable solution for terrain monitoring, mapping, and detection tasks. However, a key challenge remains the…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
Construction robots have gained significant traction in recent years in research and development. However, the application of industrial robots has unique challenges. Dynamic environments, domain-specific tasks, and complex localization and…
We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…
A novel onboard tracking approach enabling vision-based relative localization and communication using Active blinking Marker Tracking (AMT) is introduced in this article. Active blinking markers on multi-robot team members improve the…
The development of embodied agents that can communicate with humans in natural language has gained increasing interest over the last years, as it facilitates the diffusion of robotic platforms in human-populated environments. As a step…
The capability to efficiently search for objects in complex environments is fundamental for many real-world robot applications. Recent advances in open-vocabulary vision models have resulted in semantically-informed object navigation…
Proactive robot assistance enables a robot to anticipate and provide for a user's needs without being explicitly asked. We formulate proactive assistance as the problem of the robot anticipating temporal patterns of object movements…
In this paper, we describe a representation for spatial information, called the stochastic map, and associated procedures for building it, reading information from it, and revising it incrementally as new information is obtained. The map…
Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…
This article presents a novel and flexible multitask multilayer Bayesian mapping framework with readily extendable attribute layers. The proposed framework goes beyond modern metric-semantic maps to provide even richer environmental…
Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be provided, often through a map. Recent works have shifted from…
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…
Evaluating learned robot control policies to determine their physical task-level capabilities costs experimenter time and effort. The growing number of policies and tasks exacerbates this issue. It is impractical to test every policy on…
To have a robot actively supporting a human during a collaborative task, it is crucial that robots are able to identify the current action in order to predict the next one. Common approaches make use of high-level knowledge, such as object…
Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…
Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…