Related papers: Autonomous Visual Navigation A Biologically Inspir…
A primary motivation for our research in Digital Ecosystems is the desire to exploit the self-organising properties of biological ecosystems. Ecosystems are thought to be robust, scalable architectures that can automatically solve complex,…
Motile microorganisms, like bacteria and algae, unify abilities like self-propulsion, autonomous navigation, and decision-making on the micron scale. While recent breakthroughs have led to the creation of synthetic microswimmers and…
The move to high performance applications greatly increases the demand to produce large instantaneous fluid forces for high-speed maneuvering and improved power efficiency for sustained propulsion. Animals achieve remarkable feats of…
This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…
This paper proposes a path planning strategy for an Autonomous Ground Vehicle (AGV) navigating in a partially known environment. Global path planning is performed by first using a spatial database of the region to be traversed containing…
We introduce a new memory architecture for navigation in previously unseen environments, inspired by landmark-based navigation in animals. The proposed semi-parametric topological memory (SPTM) consists of a (non-parametric) graph with…
Efficient transportation, a hot topic in nonlinear science, is essential for modern societies and the survival of biological species. Biological evolution has generated a rich variety of successful solutions, which have inspired engineers…
We design new navigation strategies for travel time optimization of microscopic self-propelled particles in complex and noisy environments. In contrast to strategies relying on the results of optimal control theory, these protocols allow…
This paper proposes an intuitive human-swarm interaction framework inspired by our childhood memory in which we interacted with living ants by changing their positions and environments as if we were omnipotent relative to the ants. In…
Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we propose Wild Visual Navigation (WVN), an…
Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…
A safe and robust on-road navigation system is a crucial component of achieving fully automated vehicles. NVIDIA recently proposed an End-to-End algorithm that can directly learn steering commands from raw pixels of a front camera by using…
Navigation is a must-have skill for any mobile robot. A core challenge in navigation is the need to account for an ample number of possible configurations of environment and navigation contexts. We claim that a mobile robot should be able…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…
Autonomous ocean-exploring vehicles have begun to take advantage of onboard sensor measurements of water properties such as salinity and temperature to locate oceanic features in real time. Such targeted sampling strategies enable more…
Previous work has shown that robot navigation systems that employ an architecture based upon the idiotypic network theory of the immune system have an advantage over control techniques that rely on reinforcement learning only. This is…
Autonomous navigation in complex environments is a crucial task in time-sensitive scenarios such as disaster response or search and rescue. However, complex environments pose significant challenges for autonomous platforms to navigate due…
Autonomous Underwater Vehicles (AUVs) are increasingly being used to support scientific research and monitoring studies. One such application is in benthic habitat mapping where these vehicles collect seafloor imagery that complements…
This paper brings together the concepts of navigation transformation and harmonic functions to form navigation functions that are correct-by-construction in the sense that no tuning is required. The form of the navigation function is…