Related papers: AvoidBench: A high-fidelity vision-based obstacle …
In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…
Obstacle avoidance from monocular images is a challenging problem for robots. Though multi-view structure-from-motion could build 3D maps, it is not robust in textureless environments. Some learning based methods exploit human demonstration…
Obstacle avoidance is a critical component of the navigation stack required for mobile robots to operate effectively in complex and unknown environments. In this research, three end-to-end Convolutional Neural Networks (CNNs) were trained…
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…
In this paper, we propose a map-based end-to-end DRL approach for three-dimensional (3D) obstacle avoidance in a partially observed environment, which is applied to achieve autonomous navigation for an indoor mobile robot using a depth…
We present AVOCADO (AdaptiVe Optimal Collision Avoidance Driven by Opinion), a novel navigation approach to address holonomic robot collision avoidance when the robot does not know how cooperative the other agents in the environment are.…
Local motion planning is a heavily researched topic in the field of robotics with many promising algorithms being published every year. However, it is difficult and time-consuming to compare different methods in the field. In this paper, we…
Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimization problem with positive distance constraints between robots,…
Unmanned aerial vehicles, and multi-rotors in particular, can now perform dexterous tasks in impervious environments, from infrastructure monitoring to emergency deliveries. Autonomous drone racing has emerged as an ideal benchmark to…
Next generation Unmanned Aerial Vehicles (UAVs) must reliably avoid moving obstacles. Existing dynamic collision avoidance methods are effective where obstacle trajectories are linear or known, but such restrictions are not accurate to many…
Despite rapid progress, autonomous driving algorithms remain notoriously fragile under Out-of-Distribution (OOD) conditions. We identify a critical decoupling failure in current research: the lack of distinction between appearance-based…
This article investigates the practical scenarios of chasing an adversarial evader in an unbounded environment with cluttered obstacles. We propose a Voronoi-based decentralized algorithm for multiple pursuers to encircle and capture the…
Automatic identification of events and recurrent behavior analysis are critical for video surveillance. However, most existing content-based video retrieval benchmarks focus on scene-level similarity and do not evaluate the action…
Aiming to promote the wide adoption of safety filters for autonomous aerial robots, this paper presents a safe control architecture designed for seamless integration into widely used open-source autopilots. Departing from methods that…
Evaluating language models fairly is increasingly difficult as static benchmarks risk contamination by training data, obscuring whether models truly reason or recall. We introduce BeyondBench, an evaluation framework using algorithmic…
Evaluating safety performance in a resource-efficient way is crucial for the development of autonomous systems. Simulation of parameterized scenarios is a popular testing strategy but parameter sweeps can be prohibitively expensive. To…
At present, in most warehouse environments, the accumulation of goods is complex, and the management personnel in the control of goods at the same time with the warehouse mobile robot trajectory interaction, the traditional mobile robot can…
Rapid advances in multimodal models demand benchmarks that rigorously evaluate understanding and reasoning in safety-critical, dynamic real-world settings. We present AccidentBench, a large-scale benchmark that combines vehicle accident…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The…