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Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…
Visual navigation for robotics is inspired by the human ability to navigate environments using visual cues and memory, eliminating the need for detailed maps. In unseen, unmapped, or GPS-denied settings, traditional metric map-based methods…
Collisions at non-line-of-sight (NLOS) intersections remain a major safety concern because drivers have limited visibility of approaching traffic. V2X based warnings can reduce these risks, yet many vehicles are not equipped with V2X and…
Despite decades of efforts, robot navigation in a real scenario with volatility, uncertainty, complexity, and ambiguity (VUCA for short), remains a challenging topic. Inspired by the central nervous system (CNS), we propose a hierarchical…
We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…
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…
Navigating large and complex indoor environments, such as universities, airports, and hospitals, can be cognitively demanding and requires attention and effort. While mobile applications provide convenient navigation support, they occupy…
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…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
Taking inspiration from how the brain coordinates multiple learning systems is an appealing strategy to endow robots with more flexibility. One of the expected advantages would be for robots to autonomously switch to the least costly system…
Industrial warehouses are congested with moving forklifts, shelves and personnel, making robot teleoperation particularly risky and demanding for blind and low-vision (BLV) operators. Although accessible teleoperation plays a key role in…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
This paper addresses the problem of Human-Aware Navigation (HAN), using multi camera sensors to implement a vision-based person tracking system. The main contributions of this paper are as follows: a novel and efficient Deep Learning person…
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…
This paper explores a physical human-robot collaboration (pHRC) task involving the joint insertion of a board into a frame by a sightless robot and a human operator. While admittance control is commonly used in pHRC tasks, it can be…
We study the problem of coordinating multiple robots along fixed geometric paths. Our contribution is threefold. First we formalize the intuitive concept of priorities as a binary relation induced by a feasible coordination solution,…
Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
Ensuring safe navigation in complex environments requires accurate real-time traversability assessment and understanding of environmental interactions relative to the robot`s capabilities. Traditional methods, which assume simplified…