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Robots should exist anywhere humans do: indoors, outdoors, and even unmapped environments. In contrast, the focus of recent advancements in Object Goal Navigation(OGN) has targeted navigating in indoor environments by leveraging spatial and…
Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents…
Traditional path-planning techniques treat humans as obstacles. This has changed since robots started to enter human environments. On modern robots, social navigation has become an important aspect of navigation systems. To use…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Air pollution is one of the most important causes of mortality in the world. Monitoring air pollution is useful to learn more about the link between health and pollutants, and to identify areas for intervention. Such monitoring is…
The task of olfactory search is ubiquitous in nature and in technology, from animals in the quest of food or of a mating partner, to robots searching for the source of hazardous fumes in a chemical plant. Here, we focus on the algorithmic…
Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…
Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…
We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility…
Robot navigation in large, complex, and unknown indoor environments is a challenging problem. The existing approaches, such as traditional sampling-based methods, struggle with resolution control and scalability, while imitation…
In this paper, we present a robotic navigation algorithm with natural language interfaces, which enables a robot to safely walk through a changing environment with moving persons by following human instructions such as "go to the restaurant…
Visual navigation typically assumes the existence of at least one obstacle-free path between start and goal, which must be discovered/planned by the robot. However, in real-world scenarios, such as home environments and warehouses, clutter…
The task of learning to pick a single preferred example out a finite set of examples, an "optimal choice problem", is a supervised machine learning problem with complex, structured input. Problems of optimal choice emerge often in various…
The scientific study of the Solar System's minor bodies ultimately starts with a search for those bodies. This chapter presents a review of the use of machine learning techniques to find moving objects, both natural and artificial, in…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
The problem to deal with in this project is the problem of routing electric vehicles, which consists of finding the best routes for this type of vehicle, so that they reach their destination, without running out of power and optimizing to…
Recent papers have shown optimally-competitive on-line strategies for a robot traveling from a point $s$ to a point $t$ in certain unknown geometric environments. We consider the question: Having gained some partial information about the…
Enhancing robot navigation efficiency is a crucial objective in modern robotics. Robots relying on external navigation systems are often susceptible to electromagnetic interference (EMI) and encounter environmental disturbances, resulting…