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As robots increasingly integrate into everyday environments, ensuring their safe navigation around humans becomes imperative. Efficient and safe motion planning requires robots to account for human behavior, particularly in constrained…

One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability…

Environment perception is the task for intelligent vehicles on which all subsequent steps rely. A key part of perception is to safely detect other road users such as vehicles, pedestrians, and cyclists. With modern deep learning techniques…

As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…

Physically disentangling entangled objects from each other is a problem encountered in waste segregation or in any task that requires disassembly of structures. Often there are no object models, and, especially with cluttered irregularly…

This paper investigates the usefulness of reasoning about the uncertain presence of obstacles during path planning, which typically stems from the usage of probabilistic occupancy grid maps for representing the environment when mapping via…

In this paper, we outline an interleaved acting and planning technique to rapidly reduce the uncertainty of the estimated robot's pose by perceiving relevant information from the environment, as recognizing an object or asking someone for a…

Visual place recognition tasks often encounter significant challenges in landmark detection due to the presence of irrelevant objects such as humans, cars, and trees, despite the remarkable progress achieved by previous models, especially…

Autonomous exploration to build a map of an unknown environment is a fundamental robotics problem. However, the quality of the map directly influences the quality of subsequent robot operation. Instability in a simultaneous localization and…

We present a novel approach for motion planning in mobile robotics under sensing and motion uncertainty based on state lattices with graduated fidelity. The probability of collision is reliably estimated considering the robot shape, and the…

Zero-shot object navigation (ZSON) allows robots to find target objects in unfamiliar environments using natural language instructions, without relying on pre-built maps or task-specific training. Recent general-purpose models, such as…

Blind people have limited opportunities to explore an environment based on their interests. While existing navigation systems could provide them with surrounding information while navigating, they have limited scalability as they require…

The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…

Reliable perception is essential for robots that interact with the world. But sensors alone are often insufficient to provide this capability, and they are prone to errors due to various conditions in the environment. Furthermore, there is…

On-device localization and tracking are increasingly crucial for various applications. Along with a rapidly growing amount of location data, machine learning (ML) techniques are becoming widely adopted. A key reason is that ML inference is…

Exploration is a critical challenge in robotics, centered on understanding unknown environments. In this work, we focus on robots exploring structured indoor environments which are often predictable and composed of repeating patterns. Most…

Perception-based navigation systems are useful for unmanned ground vehicle (UGV) navigation in complex terrains, where traditional depth-based navigation schemes are insufficient. However, these data-driven methods are highly dependent on…

Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…

Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…

Knowledge bases often consist of facts which are harvested from a variety of sources, many of which are noisy and some of which conflict, resulting in a level of uncertainty for each triple. Knowledge bases are also often incomplete,…