Related papers: A Skeleton-Based Topological Planner for Explorati…
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…
A major challenge with off-road autonomous navigation is the lack of maps or road markings that can be used to plan a path for autonomous robots. Classical path planning methods mostly assume a perfectly known environment without accounting…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
We present a modular robotic system for autonomous exploration and semantic updating of large-scale unknown environments. Our approach enables a mobile robot to build, revisit, and update a hybrid semantic map that integrates a 2D occupancy…
Active SLAM is the task of actively planning robot paths while simultaneously building a map and localizing within. Existing work has focused on planning paths with occupancy grid maps, which do not scale well and suffer from long term…
We propose efficient distributed algorithms to aid navigation of a user through a geographic area covered by sensors. The sensors sense the level of danger at their locations and we use this information to find a safe path for the user…
Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan globally efficient paths. To address these limitations, we…
Robot exploration aims at the reconstruction of unknown environments, and it is important to achieve it with shorter paths. Traditional methods focus on optimizing the visiting order of frontiers based on current observations, which may…
Path planning in unknown environments is a crucial yet inherently challenging capability for mobile robots, which primarily encompasses two coupled tasks: autonomous exploration and point-goal navigation. In both cases, the robot must…
In this paper, we present an integrated solution to memory-efficient environment modeling by an autonomous mobile robot equipped with a laser range-finder. Majority of nowadays approaches to autonomous environment modeling, called…
Mapping is an essential task for mobile robots and topological representation often works as a basis for the various applications. In this paper, a novel framework that can build topological maps incrementally is proposed. The algorithm is…
Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…
To increase the speed of operation and reduce operator burden, humanoid robots must be able to function autonomously, even in complex, cluttered environments. For this to be possible, they must be able to quickly and efficiently compute…
Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…
The skeleton of a digital image is a compact representation of its topology, geometry, and scale. It has utility in many computer vision applications, such as image description, segmentation, and registration. However, skeletonization has…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…
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…
This paper presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using haptic information only. The proposed algorithm plans the…
This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…