Related papers: Understanding Path Planning Explanations
Humans are known to construct cognitive maps of their everyday surroundings using a variety of perceptual inputs. As such, when a human is asked for directions to a particular location, their wayfinding capability in converting this…
Machines are being increasingly used in decision-making processes, resulting in the realization that decisions need explanations. Unfortunately, an increasing number of these deployed models are of a 'black-box' nature where the reasoning…
To complete a complex task where a robot navigates to a goal object and fetches it, the robot needs to have a good understanding of the instructions and the surrounding environment. Large pre-trained models have shown capabilities to…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
As robots are deployed in human spaces, it is important that they are able to coordinate their actions with the people around them. Part of such coordination involves ensuring that people have a good understanding of how a robot will act in…
There is a growing demand for mobile robots to operate in more variable environments, where guaranteeing safe robot navigation is a priority, in addition to time performance. To achieve this, current solutions for local planning use a…
In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably large, especially if the robot is capable of performing many…
With the growing capabilities of intelligent systems, the integration of robots in our everyday life is increasing. However, when interacting in such complex human environments, the occasional failure of robotic systems is inevitable. The…
We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…
In this paper we show how rule-based decision making can be combined with traditional motion planning techniques to achieve human-like behavior of a self-driving vehicle in complex traffic situations. We give and discuss examples of…
Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…
The guiding task of a mobile robot requires not only human-aware navigation, but also appropriate yet timely interaction for active instruction. State-of-the-art tour-guide models limit their socially-aware consideration to adapting to…
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…
General-purpose service robots are expected to undertake a broad range of tasks at the request of users. Knowledge representation and planning systems are essential to flexible autonomous robots, but the field lacks a unified perspective on…
Robots need to be able to work in multiple different environments. Even when performing similar tasks, different behaviour should be deployed to best fit the current environment. In this paper, We propose a new approach to navigation, where…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
As AI becomes an integral part of our lives, the development of explainable AI, embodied in the decision-making process of an AI or robotic agent, becomes imperative. For a robotic teammate, the ability to generate explanations to justify…