Related papers: Open-Architecture End-to-End System for Real-World…
Despite the increasing prevalence of robots in daily life, their navigation capabilities are still limited to environments with prior knowledge, such as a global map. To fully unlock the potential of robots, it is crucial to enable them to…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
Visual robot self-localization is a fundamental problem in visual robot navigation and has been studied across various problem settings, including monocular and sequential localization. However, many existing studies focus primarily on…
Efficient routing of mobile robot fleets is crucial in intralogistics, where delays and deadlocks can substantially reduce system throughput. Roadmap design, specifying feasible transport routes, directly affects fleet coordination and…
This paper brings together the concepts of navigation transformation and harmonic functions to form navigation functions that are correct-by-construction in the sense that no tuning is required. The form of the navigation function is…
Researchers are exploring Augmented Reality (AR) interfaces for online robot programming to streamline automation and user interaction in variable manufacturing environments. This study introduces an AR interface for online programming and…
We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…
This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot workspace into the \emph{ball world}, an artificial representation…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
Visual Semantic Navigation (VSN) is the ability of a robot to learn visual semantic information for navigating in unseen environments. These VSN models are typically tested in those virtual environments where they are trained, mainly using…
As robotic agents increasingly assist humans in reality, quadruped robots offer unique opportunities for interaction in complex scenarios due to their agile movement. However, building agents that can autonomously navigate, adapt, and…
Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…
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…
Collision-free, goal-directed navigation in environments containing unknown static and dynamic obstacles is still a great challenge, especially when manual tuning of navigation policies or costly motion prediction needs to be avoided. In…
The ability to navigate and interact with complex environments is central to real-world embodied agents, yet navigation in unseen environments remains challenging due to "experiential amnesia," where existing trajectory-driven or reactive…
We present a semantically rich graph representation for indoor robotic navigation. Our graph representation encodes: semantic locations such as offices or corridors as nodes, and navigational behaviors such as enter office or cross a…
Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that require both open-world object detection and high-level task…
As autonomous driving technology matures, end-to-end methodologies have emerged as a leading strategy, promising seamless integration from perception to control via deep learning. However, existing systems grapple with challenges such as…
Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…
Autonomous navigation is essential for steel bridge inspection robot to monitor and maintain the working condition of steel bridges. Majority of existing robotic solutions requires human support to navigate the robot doing the inspection.…