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We present a self-supervised approach for learning to predict traversable paths for wheeled mobile robots that require good traction to navigate. Our algorithm, termed WayFAST (Waypoint Free Autonomous Systems for Traversability), uses RGB…
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…
High-speed off-road autonomous driving presents unique challenges due to complex, evolving terrain characteristics and the difficulty of accurately modeling terrain-vehicle interactions. While dynamics models used in model-based control can…
Path planning in obstacle-dense environments is a key challenge in robotics, and depends on inferring scene attributes and associated uncertainties. We present a multiple-hypothesis path planner designed to navigate complex environments…
Navigation in natural outdoor environments requires a robust and reliable traversability classification method to handle the plethora of situations a robot can encounter. Binary classification algorithms perform well in their native domain…
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…
Developing robust vision-guided controllers for quadrupedal robots in complex environments, with various obstacles, dynamical surroundings and uneven terrains, is very challenging. While Reinforcement Learning (RL) provides a promising…
Autonomous navigation in unknown environments requires multi-scale spatial understanding that captures geometric details, topological connectivity, and global structure to support high-level decision making under partial observability.…
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…
Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we present Wild Visual Navigation (WVN), an…
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…
The problem of multi-object tracking is a fundamental computer vision research focus, widely used in public safety, transport, autonomous vehicles, robotics, and other regions involving artificial intelligence. Because of the complexity of…
Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…
Human navigation is facilitated through the association of actions with landmarks, tapping into our ability to recognize salient features in our environment. Consequently, navigational instructions for humans can be extremely concise, such…
Traversability estimation for mobile robots in off-road environments requires more than conventional semantic segmentation used in constrained environments like on-road conditions. Recently, approaches to learning a traversability…
Driving in an off-road environment is challenging for autonomous vehicles due to the complex and varied terrain. To ensure stable and efficient travel, the vehicle requires consideration and balancing of environmental factors, such as…
In this work, we present a novel Reinforcement Learning (RL) algorithm for the off-road trajectory tracking problem. Off-road environments involve varying terrain types and elevations, and it is difficult to model the interaction dynamics…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
Today, robotics is an auspicious and fast-growing branch of technology that involves the manufacturing, design, and maintenance of robot machines that can operate in an autonomous fashion and can be used in a wide variety of applications…