Related papers: Action-Aware Pro-Active Safe Exploration for Mobil…
Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles(UAVs). Existing methods, however, are demonstrated to static local optima and two-dimensional exploration. To address these challenges,…
Navigation in dynamic environments requires autonomous systems to reason about uncertainties in the behavior of other agents. In this paper, we introduce a unified framework that combines trajectory planning with multimodal predictions and…
Search missions require motion planning and navigation methods for information gathering that continuously replan based on new observations of the robot's surroundings. Current methods for information gathering, such as Monte Carlo Tree…
Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…
This paper presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using haptic information only. The proposed algorithm plans the…
In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
Robots operating in human-centric or hazardous environments must proactively anticipate and mitigate dangers beyond basic obstacle detection. Traditional navigation systems often depend on static maps, which struggle to account for dynamic…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds collision-free paths, but this is overly restrictive in clutter,…
Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…
To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…
Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…
Most common tasks for robots in dynamic spaces require that the environment is regularly and actively perceived, with many of them explicitly requiring objects or persons to be within view, i.e., for monitoring or safety. However, solving…
Aerial robots are increasingly being utilized for environmental monitoring and exploration. However, a key challenge is efficiently planning paths to maximize the information value of acquired data as an initially unknown environment is…
Despite recent progress of robotic exploration, most methods assume that drift-free localization is available, which is problematic in reality and causes severe distortion of the reconstructed map. In this work, we present a systematic…
This paper develops \emph{iterative Covariance Regulation} (iCR), a novel method for active exploration and mapping for a mobile robot equipped with on-board sensors. The problem is posed as optimal control over the $SE(3)$ pose kinematics…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is either unaware of the robot's presence or unwilling to engage…