Related papers: AdVENTR: Autonomous Robot Navigation in Complex Ou…
Autonomous mobile robots have the potential to solve missions that are either too complex or dangerous to be accomplished by humans. In this paper, we address the design and autonomous deployment of a ground vehicle equipped with a robotic…
Robot-assisted endoluminal procedures are increasingly used for early cancer intervention. However, the intricate, narrow and tortuous pathways within the luminal anatomy pose substantial difficulties for robot navigation. Vision-based…
Small robots that can operate under the plant canopy can enable new possibilities in agriculture. However, unlike larger autonomous tractors, autonomous navigation for such under canopy robots remains an open challenge because Global…
Traversing terrain with good traction is crucial for achieving fast off-road navigation. Instead of manually designing costs based on terrain features, existing methods learn terrain properties directly from data via self-supervision to…
We propose a learning-based navigation system for reaching visually indicated goals and demonstrate this system on a real mobile robot platform. Learning provides an appealing alternative to conventional methods for robotic navigation:…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Estimating terrain traversability in off-road environments requires reasoning about complex interaction dynamics between the robot and these terrains. However, it is challenging to create informative labels to learn a model in a supervised…
Driving energy consumption plays a major role in the navigation of mobile robots in challenging environments, especially if they are left to operate unattended under limited on-board power. This paper reports on first results of an…
We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…
This paper focuses on real-time occupancy mapping and collision checking onboard an autonomous robot navigating in an unknown environment. We propose a new map representation, in which occupied and free space are separated by the decision…
For safety of autonomous driving, vehicles need to be able to drive under various lighting, weather, and visibility conditions in different environments. These external and environmental factors, along with internal factors associated with…
Visual Language Navigation is a task that challenges robots to navigate in realistic environments based on natural language instructions. While previous research has largely focused on static settings, real-world navigation must often…
Mobile robots should be capable of planning cost-efficient paths for autonomous navigation. Typically, the terrain and robot properties are subject to variations. For instance, properties of the terrain such as friction may vary across…
Radar odometry has been gaining attention in the last decade. It stands as one of the best solutions for robotic state estimation in unfavorable conditions; conditions where other interoceptive and exteroceptive sensors may fall short.…
Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…
Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…
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…
The use of visual information for the navigation of unmanned ground vehicles in a cross-country environment recently received great attention. However, until now, the use of textural information has been somewhat less effective than color…
Autonomous navigation of a robot in agricultural fields is essential for every task from crop monitoring to weed management and fertilizer application. Many current approaches rely on accurate GPS, however, such technology is expensive and…