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Deep Reinforcement Learning (DRL) controllers for quadrupedal locomotion have demonstrated impressive performance on challenging terrains, allowing robots to execute complex skills such as climbing, running, and jumping. However, existing…
LiDAR (short for "Light Detection And Ranging" or "Laser Imaging, Detection, And Ranging") technology can be used to provide detailed three-dimensional elevation maps of urban and rural landscapes. To date, airborne LiDAR imaging has been…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…
Terrain classification is an important problem for mobile robots operating in extreme environments as it can aid downstream tasks such as autonomous navigation and planning. While RGB cameras are widely used for terrain identification,…
Robotic mapping is attractive in many scientific applications that involve environmental surveys. This paper presents a system for localization and mapping of sparsely distributed surface features such as precariously balanced rocks (PBRs),…
This is a complementary document to the paper presented in [1], to provide more detailed proofs for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only…
Landslides are one of the most critical and destructive geohazards. Widespread development of human activities and settlements combined with the effects of climate change on weather are resulting in a high increase in the frequency and…
In this paper, we introduce a novel method for safe navigation in agricultural robotics. As global environmental challenges intensify, robotics offers a powerful solution to reduce chemical usage while meeting the increasing demands for…
Spatially and geometrically accurate laser scans are essential in modelling infrastructure for applications in civil, mining and transportation. Monitoring of underground or indoor environments such as mines or tunnels is challenging due to…
Low-altitude wireless networks (LAWN) are rapidly expanding with the growing deployment of unmanned aerial vehicles (UAVs) for logistics, surveillance, and emergency response. Reliable connectivity remains a critical yet challenging task…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
Deep learning-based grasp prediction models have become an industry standard for robotic bin-picking systems. To maximize pick success, production environments are often equipped with several end-effector tools that can be swapped…
For autonomous ground vehicles (AGVs) deployed in suburban neighborhoods and other human-centric environments the problem of localization remains a fundamental challenge. There are well established methods for localization with GPS, lidar,…
Statistical tracking filters depend on accurate target measurements and uncertainty estimates for good tracking performance. In this work, we propose novel machine learning models for target detection and uncertainty estimation in…
Simultaneous Localization and Mapping (SLAM) has been considered as a solved problem thanks to the progress made in the past few years. However, the great majority of LiDAR-based SLAM algorithms are designed for a specific type of payload…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
This paper addresses the problem of learning instantaneous occupancy levels of dynamic environments and predicting future occupancy levels. Due to the complexity of most real-world environments, such as urban streets or crowded areas, the…
HD (High Definition) map based on 3D lidar plays a vital role in autonomous vehicle localization, planning, decision-making, perception, etc. Many 3D lidar mapping technologies related to SLAM (Simultaneous Localization and Mapping) are…
This article proposes a new path planning method for addressing multi-level terrain situations. The proposed method includes innovations in three aspects: 1) the pre-processing of point cloud maps with a multi-level skip-list structure and…
We propose a method for off-road drivable area extraction using 3D LiDAR data with the goal of autonomous driving application. A specific deep learning framework is designed to deal with the ambiguous area, which is one of the main…