Related papers: Smooth Path Planning Using a Gaussian Process Regr…
Efficient navigation through uneven terrain remains a challenging endeavor for autonomous robots. We propose a new geometric-based uneven terrain mapless navigation framework combining a Sparse Gaussian Process (SGP) local map with a…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
This paper addresses multi-robot informative path planning (IPP) for environmental monitoring. The problem involves determining informative regions in the environment that should be visited by robots to gather the most information about the…
We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algorithm that can exploit the Gaussian map for real-time…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…
For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…
To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…
This paper explores minimum sensing navigation of robots in environments cluttered with obstacles. The general objective is to find a path plan to a goal region that requires minimal sensing effort. In [1], the information-geometric RRT*…
In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform. Ideally, the robot should be able to identify areas that…
In our previous work, we designed a systematic policy to prioritize sampling locations to lead significant accuracy improvement in spatial interpolation by using the prediction uncertainty of Gaussian Process Regression (GPR) as "attraction…
We formulate a reduced-order strategy for efficiently forecasting complex high-dimensional dynamical systems entirely based on data streams. The first step of our method involves reconstructing the dynamics in a reduced-order subspace of…
This paper presents evolutionary methods for optimization in dynamic mobile robot path planning. In dynamic mobile path planning, the goal is to find an optimal feasible path from starting point to target point with various obstacles, as…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…
This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their…
Large-scale swarm robotic systems consisting of numerous cooperative agents show considerable promise for performing autonomous tasks across various sectors. Nonetheless, traditional motion planning approaches often face a trade-off between…
Autonomous exploration is an essential capability for mobile robots, as the majority of their applications require the ability to efficiently collect information about their surroundings. In the literature, there are several approaches,…
Most of the existing robotic exploration schemes use occupancy grid representations and geometric targets known as frontiers. The occupancy grid representation relies on the assumption of independence between grid cells and ignores…
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…