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This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…
This paper presents the development of a Simultaneous Localization and Mapping (SLAM) based Autonomous Navigation system. The motivation for this study was to find a solution for navigating interior spaces autonomously. Interior navigation…
An open-source vehicle testbed to enable the exploration of automation technologies for road vehicles is presented. The platform hardware and software, based on the Robot Operating System (ROS), are detailed. Two methods are discussed for…
Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…
Although visual navigation has been extensively studied using deep reinforcement learning, online learning for real-world robots remains a challenging task. Recent work directly learned from offline dataset to achieve broader generalization…
We introduce a system for real-time sperm whale rendezvous at sea using an autonomous uncrewed aerial vehicle. Our system employs model-based reinforcement learning that combines in situ sensor data with an empirical whale dive model to…
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window Approach, Model Predictive Control, and more recently, Control…
Recent years have witnessed significant progress in autonomous navigation using reinforcement learning. However, existing approaches largely emphasize reinforcement learning framework design, such as input representations, action spaces,…
In hostile environments, GNSS is a potentially unreliable solution for self-localization and navigation. Many systems only use an IMU as a backup system, resulting in integration errors which can dramatically increase during mission…
Visual Simultaneous Localization and Mapping (v-SLAM) and navigation of multirotor Unmanned Aerial Vehicles (UAV) in an unknown environment have grown in popularity for both research and education. However, due to the complex hardware…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…
The ROS navigation stack is powerful for mobile robots to move from place to place reliably. The job of navigation stack is to produce a safe path for the robot to execute, by processing data from odometry, sensors and environment map.…
Our understanding of the oceans remains limited by sparse and infrequent observations, primarily because current methods are constrained by the high cost and logistical effort of underwater monitoring, relying either on sporadic surveys…
This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…
This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially…
Unmanned Aerial Vehicle (UAV) swarms offer versatile applications in logistics, agriculture, and surveillance, yet controlling them requires expert knowledge for safety and feasibility. Traditional static methods limit adaptability, while…
This paper introduces an autonomous UAV vision system for continuous, real-time tracking of marine animals, specifically sharks, in dynamic marine environments. The system integrates an onboard computer with a stabilised RGB-D camera and a…
With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…