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When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unmanned ground vehicle (UGV) to perform its duties or learn…
Unmanned ground vehicles have a huge development potential in both civilian and military fields, and have become the focus of research in various countries. In addition, high-precision, high-reliability sensors are significant for UGVs'…
This paper presents a novel data-driven navigation system to navigate an Unmanned Vehicle (UV) in GPS-denied, feature-deficient environments such as tunnels, or mines. The method utilizes landmarks that vehicle can deploy and measure range…
A robotic solution for the unmanned ground vehicles (UGVs) to execute the highly complex task of object manipulation in an autonomous mode is presented. This paper primarily focuses on developing an autonomous robotic system capable of…
Off-road autonomous unmanned ground vehicles (UGVs) are being developed for military and commercial use to deliver crucial supplies in remote locations, help with mapping and surveillance, and to assist war-fighters in contested…
Localization in a global map is critical to success in many autonomous robot missions. This is particularly challenging for multi-robot operations in unknown and adverse environments. Here, we are concerned with providing a small unmanned…
This work presents a novel data-driven multi-layered planning and control framework for the safe navigation of a class of unmanned ground vehicles (UGVs) in the presence of unknown stationary obstacles and additive modeling uncertainties.…
The self-localization capability is a crucial component for Unmanned Ground Vehicles (UGV) in farming applications. Approaches based solely on visual cues or on low-cost GPS are easily prone to fail in such scenarios. In this paper, we…
A robotic system of multiple unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) has the potential for advancing autonomous object geolocation performance. Much research has focused on algorithmic improvements on individual…
The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, the task becomes more challenging when the focus is on the…
To address the challenge of autonomous UGV localization in GNSS-denied off-road environments,this study proposes a matching-based localization method that leverages BEV perception image and satellite map within a road similarity space to…
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…
Vehicle movement is frequently captured in the form of GPS trajectories, i.e., sequences of timestamped GPS locations. Such data is widely used for various tasks such as travel-time estimation, trajectory recovery, and trajectory…
Significant advances in sensing, robotics, and wireless networks have enabled the collaborative utilization of autonomous aerial, ground and underwater vehicles for various applications. However, to successfully harness the benefits of…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
Reliable deployment of Unmanned Aerial Vehicles (UAVs) in cluttered unknown environments requires accurate sensors for Global Navigation Satellite System (GNSS)-denied localization and obstacle avoidance. Such a requirement limits the usage…