Related papers: EROAS: 3D Efficient Reactive Obstacle Avoidance Sy…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…
In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…
As terrestrial resources become increasingly depleted, the demand for deep-sea resource exploration has intensified. However, the extreme conditions in the deep-sea environment pose significant challenges for underwater operations,…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…
We introduce the Stochastic Correlated Obstacle Scene (SCOS) problem, a navigation setting with spatially correlated obstacles of uncertain blockage status, realistically constrained sensors that provide noisy readings and costly…
Nano-drones, with their small, lightweight design, are ideal for confined-space rescue missions and inherently safe for human interaction. However, their limited payload restricts the critical sensing needed for ego-velocity estimation and…
Under the sea, visible spectrum cameras have limited sensing capacity, being able to detect objects only in clear water, but in a constrained range. Considering any sea water condition, sonars are more suitable to support autonomous…
Zero-Shot Object Navigation (ZSON) in unknown multi-floor environments presents a significant challenge. Recent methods, mostly based on semantic value greedy waypoint selection, spatial topology-enhanced memory, and Multimodal Large…
3D Scene Graphs (3DSGs) constitute a powerful representation of the physical world, distinguished by their abilities to explicitly model the complex spatial, semantic, and functional relationships between entities, rendering a foundational…
In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents,…
Unmanned aerial vehicles (UAVs) offer dynamic trajectory control, enabling them to avoid obstacles and establish line-of-sight (LoS) wireless channels with ground nodes (GNs), unlike traditional ground-fixed base stations. This study…
We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D LiDAR scans. These can be used both to retrieve near-by place candidates…
A unified system integrating a compact object detector and a surrounding environmental condition classifier for enhancing the robustness of object detection scheme in advanced driver assistance systems (ADAS) is proposed in this paper. ADAS…
Autonomous emergency steering (AES) systems have the promising potential to further reduce traffic fatalities with other (potentially vulnerable) traffic participants by using relatively small lateral deviations to realize collision-free…
End-to-End Autonomous Driving (E2EAD) methods typically rely on supervised perception tasks to extract explicit scene information (e.g., objects, maps). This reliance necessitates expensive annotations and constrains deployment and data…
Spatially partitioned heterogeneous accelerators (HAs) are increasingly adopted in embedded systems for their performance and flexibility. Yet most existing HA design frameworks optimize primarily for throughput or quality-of-service (QoS)…
The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…
Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…
This paper presents a three-dimensional, hydrodynamics-inspired collision avoidance framework for uncrewed aerial vehicle (UAV) formations operating in dynamic environments. When moving obstacles enter a UAV's sensing region, they are…
Robust 3D occupancy prediction is essential for autonomous driving, particularly under adverse weather conditions where traditional vision-only systems struggle. While the fusion of surround-view 4D radar and cameras offers a promising…