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In this paper, an indoor robot localization system based on Robot Operating System (ROS) and visible light communication (VLC) is presented. On the basis of our previous work, we innovatively designed a VLC localization and navigation…
Mobile robots are becoming increasingly important both for individuals and industries. Mobile robotic technology is not only utilised by experts in this field but is also very popular among amateurs. However, implementing a mobile robot to…
Safe autonomous navigation in unknown environments remains a critical challenge for robots with limited sensing capabilities. While safety-critical control techniques, such as Control Barrier Functions (CBFs), have been proposed to ensure…
Determining the position and orientation of a sensor vis-a-vis its surrounding, while simultaneously mapping the environment around that sensor or simultaneous localization and mapping is quickly becoming an important advancement in…
Deep reinforcement learning (DRL) demonstrates great potential in mapless navigation domain. However, such a navigation model is normally restricted to a fixed configuration of the range sensor because its input format is fixed. In this…
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
Placing objects is a fundamental task for domestic service robots (DSRs). Thus, inferring the collision-risk before a placing motion is crucial for achieving the requested task. This problem is particularly challenging because it is…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
Indoor traversability segmentation aims to identify safe, navigable free space for autonomous agents, which is critical for robotic navigation. Pure vision-based models often fail to detect thin obstacles, such as chair legs, which can pose…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
Effective bipedal locomotion in dynamic environments, such as cluttered indoor spaces or uneven terrain, requires agile and adaptive movement in all directions. This necessitates omnidirectional terrain sensing and a controller capable of…
Coastal water autonomous boats rely on robust perception methods for obstacle detection and timely collision avoidance. The current state-of-the-art is based on deep segmentation networks trained on large datasets. Per-pixel ground truth…
In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…
This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and…
The visual simultaneous localization and mapping(vSLAM) is widely used in GPS-denied and open field environments for ground and surface robots. However, due to the frequent perception failures derived from lacking visual texture or the…
Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…
Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…
In recent years, the numbers of life-size humanoids as well as their mobile capabilities have steadily grown. Stable walking motion and control for humanoid robots are active fields of research. In this scenario an open question is how to…
Algorithms for autonomous navigation in environments without Global Navigation Satellite System (GNSS) coverage mainly rely on onboard perception systems. These systems commonly incorporate sensors like cameras and Light Detection and…