Related papers: Interactive Navigation with Adaptive Non-prehensil…
We investigate the problem of teaching a robot manipulator to perform dynamic non-prehensile object transport, also known as the `robot waiter' task, from a limited set of real-world demonstrations. We propose an approach that combines…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
By building and updating internal cognitive maps, animals exhibit extraordinary navigation abilities in complex, dynamic environments. Inspired by these biological mechanisms, we present a real time robotic navigation system grounded in the…
The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…
Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital…
With the fast and unstoppable evolution of robotics and artificial intelligence, effective autonomous navigation in real-world scenarios has become one of the most pressing challenges in the literature. However, demanding requirements, such…
Inspired by animal navigation strategies, we introduce a novel computational model to navigate and map a space rooted in biologically inspired principles. Animals exhibit extraordinary navigation prowess, harnessing memory, imagination, and…
In this paper, we propose a novel approach to wheeled robot navigation through an environment with movable obstacles. A robot exploits knowledge about different obstacle classes and selects the minimally invasive action to perform to clear…
For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Merging into dense highway traffic for an autonomous vehicle is a complex decision-making task, wherein the vehicle must identify a potential gap and coordinate with surrounding human drivers, each of whom may exhibit diverse driving…
Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…
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…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
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,…
We propose a novel framework for safe navigation in dynamic environments by integrating Koopman operator theory with conformal prediction. Our approach leverages data-driven Koopman approximation to learn nonlinear dynamics and employs…