Related papers: Realm: Real-Time Line-of-Sight Maintenance in Mult…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…
Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to efficiently localize itself using visual data where…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
Visual target navigation is a critical capability for autonomous robots operating in unknown environments, particularly in human-robot interaction scenarios. While classical and learning-based methods have shown promise, most existing…
Collaborative robots working on a common task are necessary for many applications. One of the challenges for achieving collaboration in a team of robots is mutual tracking and identification. We present a novel pipeline for online…
In this paper, we address the problem of autonomous multi-robot mapping, exploration and navigation in unknown, GPS-denied indoor or urban environments using a swarm of robots equipped with directional sensors with limited sensing…
In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…
Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimization problem with positive distance constraints between robots,…
Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
A robot navigating an outdoor environment with no prior knowledge of the space must rely on its local sensing to perceive its surroundings and plan. This can come in the form of a local metric map or local policy with some fixed horizon.…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Inter-robot communication enables multi-robot systems to coordinate and execute complex missions efficiently. Thus, maintaining connectivity of the communication network between robots is essential for many multi-robot systems. In this…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
Mobile telepresence robots (MTRs) have become increasingly popular in the expanding world of remote work, providing new avenues for people to actively participate in activities at a distance. However, humans operating MTRs often have…