Related papers: Socially-Aware Shared Control Navigation for Assis…
This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
When humans move in a shared space, they choose navigation strategies that preserve their mutual safety. At the same time, each human seeks to minimise the number of modifications to her/his path. In order to achieve this result, humans use…
Electric-powered wheelchair plays an important role in providing accessibility for people with mobility impairment. Ensuring the safety of wheelchair operation in different application scenarios and for diverse users is crucial when the…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…
This paper presents aUToPath, a unified online framework for global path-planning and control to address the challenge of autonomous navigation in cluttered urban environments. A key component of our framework is a novel hybrid planner that…
Real-time navigation in dense human environments is a challenging problem in robotics. Most existing path planners fail to account for the dynamics of pedestrians because introducing time as an additional dimension in search space is…
Telepresence robots enable users to interact with remote environments, but efficient and intuitive navigation remains a challenge. In this work, we developed and evaluated a shared control method, in which the robot navigates autonomously…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
A motion planning methodology based on the combination of Control Barrier Functions (CBF) and Signal Temporal Logic (STL) is employed in this paper. This methodology allows task completion at any point within a specified time interval,…
Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…
Mobile robot navigation has seen extensive research in the last decades. The aspect of collaboration with robots and humans sharing workspaces will become increasingly important in the future. Therefore, the next generation of mobile robots…
Motion planning in an autonomous agent is responsible for providing smooth, safe and efficient navigation. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and…
We present a substantial extension of our Human-Aware Task Planning framework, tailored for scenarios with intermittent shared execution experiences and significant belief divergence between humans and robots, particularly due to the…
Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…
We present Smac Planner, an openly available, search-based planning framework that addresses the critical need for kinematically feasible path planning across diverse robot platforms. Smac Planner provides high-performance implementations…
Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…
In Social Robot Navigation, autonomous agents need to resolve many sequential interactions with other agents. State-of-the art planners can efficiently resolve the next, imminent interaction cooperatively and do not focus on longer planning…
Service robots that work alongside humans in a shared environment need a navigation system that takes into account not only physical safety but also social norms for mutual cooperation. In this paper, we introduce a motion planning system…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. Our approach uses offline learning of human actions along with temporal coherence to…