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For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…
In this research we focus on developing a reinforcement learning system for a challenging task: autonomous control of a real-sized boat, with difficulties arising from large uncertainties in the challenging ocean environment and the…
In this paper, we present an autonomous navigation system for goal-driven exploration of unknown environments through deep reinforcement learning (DRL). Points of interest (POI) for possible navigation directions are obtained from the…
This paper presents a self-improving lifelong learning framework for a mobile robot navigating in different environments. Classical static navigation methods require environment-specific in-situ system adjustment, e.g. from human experts,…
Soft growing robots, are a type of robots that are designed to move and adapt to their environment in a similar way to how plants grow and move with potential applications where they could be used to navigate through tight spaces, dangerous…
Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…
Monitoring and patrolling large water resources is a major challenge for conservation. The problem of acquiring data of an underlying environment that usually changes within time involves a proper formulation of the information. The use of…
Mobile manipulation in dynamic environments is challenging due to movable obstacles blocking the robot's path. Traditional methods, which treat navigation and manipulation as separate tasks, often fail in such 'manipulate-to-navigate'…
Autonomous navigation is challenging for mobile robots, especially in an unknown environment. Commonly, the robot requires multiple sensors to map the environment, locate itself, and make a plan to reach the target. However, reinforcement…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
Social robot navigation is an evolving research field that aims to find efficient strategies to safely navigate dynamic environments populated by humans. A critical challenge in this domain is the accurate modeling of human motion, which…
This paper addresses the problem of developing an algorithm for autonomous ship landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs), using only a monocular camera in the UAV for tracking and localization.…
Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
Sustainability is becoming increasingly critical in the maritime transport, encompassing both environmental and social impacts, such as Greenhouse Gas (GHG) emissions and navigational safety. Traditional vessel navigation heavily relies on…
The navigation problem is classically approached in two steps: an exploration step, where map-information about the environment is gathered; and an exploitation step, where this information is used to navigate efficiently. Deep…
Development of navigation algorithms is essential for the successful deployment of robots in rapidly changing hazardous environments for which prior knowledge of configuration is often limited or unavailable. Use of traditional…
Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots,…
Countries with access to large bodies of water often aim to protect their maritime transport by employing maritime surveillance systems. However, the number of available sensors (e.g., cameras) is typically small compared to the…
Automation of berthing maneuvers in shipping is a pressing issue as the berthing maneuver is one of the most stressful tasks seafarers undertake. Berthing control problems are often tackled via tracking a predefined trajectory or path.…