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Indoor navigation aims at performing navigation within buildings. In scenes like home and factory, most intelligent mobile devices require an functionality of routing to guide itself precisely through indoor scenes to complete various tasks…
Inspecting petrochemical pipelines is challenging due to hazardous materials, narrow diameters, and inaccessible locations. Mobile robots are promising for autonomous pipeline inspection and mapping. This project aimed to simulate and…
The future of inland navigation increasingly relies on autonomous systems and remote operations, emphasizing the need for accurate vessel trajectory prediction. This study addresses the challenges of video-based vessel tracking and…
In this study, a small, inexpensive remotely driven underwater vehicle that can navigate in shallow water for the purpose of monitoring water quality and demonstrating vehicle control algorithms is presented. The vehicle is operated by an…
A critical use case of SLAM for mobile assistive robots is to support localization during a navigation-based task. Current SLAM benchmarks overlook the significance of repeatability (precision), despite its importance in real-world…
Learning agents can optimize standard autonomous navigation improving flexibility, efficiency, and computational cost of the system by adopting a wide variety of approaches. This work introduces the \textit{PIC4rl-gym}, a fundamental…
This paper proposes an efficient hybrid localization framework for the autonomous navigation of an unmanned ground vehicle in uneven or rough terrain, as well as techniques for detailed processing of 3D point cloud data. The framework is an…
Autonomous Micro Air Vehicles (MAVs) are becoming essential in precision agriculture to enhance efficiency and reduce labor costs through targeted, real-time operations. However, existing unmanned systems often rely on GPS-based navigation,…
Precision agriculture is rapidly attracting research to efficiently introduce automation and robotics solutions to support agricultural activities. Robotic navigation in vineyards and orchards offers competitive advantages in autonomously…
We present a collaborative visual simultaneous localization and mapping (SLAM) framework for service robots. With an edge server maintaining a map database and performing global optimization, each robot can register to an existing map,…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Performing real-time receding horizon motion planning for autonomous vehicles while providing safety guarantees remains difficult. This is because existing methods to accurately predict ego vehicle behavior under a chosen controller use…
Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…
Future SAE Level 4 and Level 5 autonomous vehicles will require novel applications of localization, perception, control and artificial intelligence technology in order to offer innovative and disruptive solutions to current mobility…
Simultaneous Localization and Mapping (SLAM) is a critical task for autonomous navigation. However, due to the computational complexity of SLAM algorithms, it is very difficult to achieve real-time implementation on low-power platforms.We…
Visually recognising a traversed route - regardless of whether seen during the day or night, in clear or inclement conditions, or in summer or winter - is an important capability for navigating robots. Since SeqSLAM was introduced in 2012,…
We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities. The system works in real-time on standard CPUs in a wide variety of environments from…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated…
Self-adaptation can be used in robotics to increase system robustness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework…