Related papers: Geometric Facts Underlying Algorithms of Robot Nav…

This paper presents a provably correct method for robot navigation in 2D environments cluttered with familiar but unexpected non-convex, star-shaped obstacles as well as completely unknown, convex obstacles. We presuppose a limited range…

In crowd navigation, the local goal plays a crucial role in trajectory initialization, optimization, and evaluation. Recognizing that when the global goal is distant, the robot's primary objective is avoiding collisions, making it less…

Exploring an unknown environment without colliding with obstacles is one of the essentials of autonomous vehicles to perform diverse missions such as structural inspections, rescues, deliveries, and so forth. Therefore, unmanned aerial…

Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…

This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…

Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…

We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into…

Learning to reason about relations and dynamics over multiple interacting objects is a challenging topic in machine learning. The challenges mainly stem from that the interacting systems are exponentially-compositional, symmetrical, and…

We formulate a novel planar motion planning problem for a Dubins-Laser system that consists of a Dubins vehicle with an attached controllable laser. The vehicle moves with unit speed and the laser, having a finite range, can rotate in a…

Robotic Exploration has evolved rapidly in the past two decades as new and more complex techniques have been created to explore unknown regions efficiently. Exciting advancements in exploration, autonomous navigation, and sensor technology…

Multi-object tracking from RGB-D video sequences is a challenging problem due to the combination of changing viewpoints, motion, and occlusions over time. We observe that having the complete geometry of objects aids in their tracking, and…

Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…

We propose an adaptive tracking algorithm where the object is modelled as a continuously updated bag of affine subspaces, with each subspace constructed from the object's appearance over several consecutive frames. In contrast to linear…

As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…

The traditional distributed model of autonomous, homogeneous, mobile point robots usually assumes that the robots do not create any visual obstruction for the other robots, i.e., the robots are see through. In this paper, we consider a…

Both a good understanding of geometrical concepts and a broad familiarity with objects lead to our excellent perception of moving objects. The human ability to detect and segment moving objects works in the presence of multiple objects,…

This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…

This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with pairwise distances strictly greater than the robot's…

If a smooth, closed, and embedded curve is deformed along its normal vector field at a rate proportional to its curvature, it shrinks to a circular point. This curve evolution is called Euclidean curve shortening and the result is known as…

This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…