Related papers: Robot localization in a mapped environment using A…
This presentation will introduce the audience to a new, emerging body of research on sequential Monte Carlo techniques in robotics. In recent years, particle filters have solved several hard perceptual robotic problems. Early successes were…
Long-term metric self-localization is an essential capability of autonomous mobile robots, but remains challenging for vision-based systems due to appearance changes caused by lighting, weather, or seasonal variations. While…
We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…
We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a sensor for its nearby teammates. We formalize CL-MRMP as a…
In this paper we address the problem of indoor localization using magnetic field data in two setups, when data is collected by (i) human-held mobile phone and (ii) by localization robots that perturb magnetic data with their own…
Location estimation is a fundamental sensing task in robotic applications, where the world is uncertain, and sensors and effectors are noisy. Most systems make various assumptions about the dependencies between state variables, and…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…
In recent years, the mobile robot has been the concern of numerous researcher since they are widely applied in various fields of daily life. This paper applies a virtual robot operating system (ROS) platform to develop a localization system…
A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance measurements is typically posed as a non-convex optimization problem, stemming from the…
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…
In emergency search and rescue scenarios, the quick location of trapped people is essential. However, disasters can render the Global Positioning System (GPS) unusable. Unmanned aerial vehicles (UAVs) with localization devices can serve as…
The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
Robots have the capability to collect large amounts of data autonomously by interacting with objects in the world. However, it is often not obvious \emph{how} to learning from autonomously collected data without human-labeled supervision.…
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x,y,z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and,…
Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…