Related papers: EROAS: 3D Efficient Reactive Obstacle Avoidance Sy…
Mobile robots in unstructured, mapless environments must rely on an obstacle avoidance module to navigate safely. The standard avoidance techniques estimate the locations of obstacles with respect to the robot but are unaware of the…
This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…
Humans are remarkable at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance robust to partial and poor…
In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…
Regression-based LiDAR relocalization has recently emerged as a promising solution for high-precision positioning in GNSS-denied environments. However, these methods are primarily tailored to autonomous driving, exhibiting significantly…
Drowning is an omnipresent risk associated with any activity on or in the water, and rescuing a drowning person is particularly challenging because of the time pressure, making a short response time important. Further complicating water…
The autonomous operation of small quadcopters moving at high speed in an unknown cluttered environment is a challenging task. Current works in the literature formulate it as a Sense-And-Avoid (SAA) problem and address it by either…
High resolution underwater 3D scene reconstruction is crucial for various applications, including construction, infrastructure maintenance, monitoring, exploration, and scientific investigation. Prior work has leveraged the complementary…
This paper introduces ROSAR, a novel framework enhancing the robustness of deep learning object detection models tailored for side-scan sonar (SSS) images, generated by autonomous underwater vehicles using sonar sensors. By extending our…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
This paper introduces BAAS, a new Extended Object Tracking (EOT) and fusion-based label annotation framework for radar detections in autonomous driving. Our framework utilizes Bayesian-based tracking, smoothing and eventually fusion methods…
Obstacle avoidance is essential for ensuring the safety of autonomous vehicles. Accurate perception and motion planning are crucial to enabling vehicles to navigate complex environments while avoiding collisions. In this paper, we propose…
In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…
This article focuses on feature-based underwater localization and navigation for autonomous underwater vehicles (AUVs) using 2D imaging sonar measurements. The sparsity of underwater acoustic features and the loss of elevation angle in…
Obstacle avoidance is one of the essential and indispensable functions for autonomous mobile robots. Most of the existing solutions are typically based on single condition constraint and cannot incorporate sensor data in a real-time manner,…
Robotic Mobile Fulfillment Systems (RMFS) rely on mobile robots for automated inventory transportation, coordinating order allocation and robot scheduling to enhance warehousing efficiency. However, optimizing RMFS is challenging due to…
Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that…
Search and rescue environments exhibit challenging 3D geometry (e.g., confined spaces, rubble, and breakdown), which necessitates agile and maneuverable aerial robotic systems. Because these systems are size, weight, and power (SWaP)…