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Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…
This paper addresses the problem of the communication of optimally compressed information for mobile robot path-planning. In this context, mobile robots compress their current local maps to assist another robot in reaching a target in an…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…
Safe flight in dynamic environments requires unmanned aerial vehicles (UAVs) to make effective decisions when navigating cluttered spaces with moving obstacles. Traditional approaches often decompose decision-making into hierarchical…
Deep learning techniques have achieved remarkable success in the semantic segmentation of remote sensing images and in land-use change detection. Nevertheless, their real-time deployment on edge platforms remains constrained by decoder…
Autonomous navigation in off-road environments remains a significant challenge in field robotics, particularly for Unmanned Ground Vehicles (UGVs) tasked with search and rescue, exploration, and surveillance. Effective long-range planning…
Traversability estimation in rugged, unstructured environments remains a challenging problem in field robotics. Often, the need for precise, accurate traversability estimation is in direct opposition to the limited sensing and compute…
To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…
Obstacle avoidance is crucial for mobile robots' navigation in both known and unknown environments. This research designs, trains, and tests two custom Convolutional Neural Networks (CNNs), using color and depth images from a depth camera…
Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…
This paper suggests an integrated navigation system for an unmanned ground vehicle operating in an unknown cluttered environment. The navigator supports time-critical mobility making it possible for a mobile robot to reach a target from the…
Autonomous vehicles operating in complex real-world environments require accurate predictions of interactive behaviors between traffic participants. This paper tackles the interaction prediction problem by formulating it with hierarchical…
Contemporary approaches to perception, planning, estimation, and control have allowed robots to operate robustly as our remote surrogates in uncertain, unstructured environments. This progress now creates an opportunity for robots to…
A grand goal in AI is to build a robot that can accurately navigate based on natural language instructions, which requires the agent to perceive the scene, understand and ground language, and act in the real-world environment. One key…
Navigation guided by natural language instructions is particularly suitable for Domestic Service Robots that interacts naturally with users. This task involves the prediction of a sequence of actions that leads to a specified destination…
This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…