Related papers: Beyond Shortsighted Navigation: Merging Best View …
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
Visual search of relevant targets in the environment is a crucial robot skill. We propose a preliminary framework for the execution monitor of a robot task, taking care of the robot attitude to visually searching the environment for targets…
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…
We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity…
Autonomous navigation in dynamic environment heavily depends on the environment and its topology. Prior knowledge of the environment is not usually accurate as the environment keeps evolving in time. Since robot is continuously evaluating…
Robotic systems performing end-user oriented autonomous exploration can be deployed in different scenarios which not only require mapping but also simultaneous inspection of regions of interest for the end-user. In this work, we propose a…
Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. To…
The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
Visual navigation is a core capability for mobile robots, yet end-to-end learning-based methods often struggle with generalization and safety in unseen, cluttered, or narrow environments. These limitations are especially pronounced in dense…
How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…
Navigation in an unknown environment consists of multiple separable subtasks, such as collecting information about the surroundings and navigating to the current goal. In the case of pure visual navigation, all these subtasks need to…
As robots become increasingly capable of manipulation and long-term autonomy, long-horizon task and motion planning problems are becoming increasingly important. A key challenge in such problems is that early actions in the plan may make…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…
We need intelligent robots for mobile construction, the process of navigating in an environment and modifying its structure according to a geometric design. In this task, a major robot vision and learning challenge is how to exactly achieve…
We naturally step sideways or lean to see around the obstacle when our view is blocked, and recover a more informative observation. Enabling robots to make the same kind of viewpoint choice is critical for human-centered operations,…