Related papers: The Robotability Score: Enabling Harmonious Robot …
In this paper, a cooperative decision-making is presented, which is suitable for intention-aware automated vehicle functions. With an increasing number of highly automated and autonomous vehicles on public roads, trust is a very important…
Mobile robots have become more and more popular in large-scale and crowded environments, such as airports, shopping malls, etc. However, due to sparse landmarks and crowd noise, localization in this environment is a great challenge.…
Safe autonomous navigation in unknown environments remains a critical challenge for robots with limited sensing capabilities. While safety-critical control techniques, such as Control Barrier Functions (CBFs), have been proposed to ensure…
Being able to estimate the traversability of the area surrounding a mobile robot is a fundamental task in the design of a navigation algorithm. However, the task is often complex, since it requires evaluating distances from obstacles, type…
The proliferation of robots in public spaces necessitates a deeper understanding of how these robots can interact with those they share the space with. In this paper, we present findings from video analysis of publicly deployed cleaning…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties is thus essential for robotic navigation. Ideally any map…
Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
Sidewalk delivery robots are a promising solution for last-mile freight distribution. Yet, they operate in dynamic environments characterized by pedestrian flows and potential obstacles, which make travel times highly uncertain and can…
Traversability illustrates the difficulty of driving through a specific region and encompasses the suitability of the terrain for traverse based on its physical properties, such as slope and roughness, surface condition, etc. In this survey…
This paper suggests an integrated navigation system for an unmanned ground vehicle operating in an unknown cluttered environment. The navigator supports time-critical mobility making it possible for a mobile robot to reach a target from the…
Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…
This paper presents a joint effort towards the development of a data-driven Social Robot Navigation metric to facilitate benchmarking and policy optimization for ground robots. We compiled a dataset with 4427 trajectories -- 182 real and…
Connected Autonomous Vehicles (CAVs) promise to reduce congestion in future urban networks, potentially by optimizing their routing decisions. Unlike for human drivers, these decisions can be made with collective, data-driven policies,…
This paper quantitatively investigates the crash severity of Autonomous Vehicles (AVs) with spatially localized machine learning and macroscopic measures of the urban built environment. Extending beyond the microscopic effects of individual…
The environments in which the collaboration of a robot would be the most helpful to a person are frequently uncontrolled and cluttered with many objects present. Legible robot arm motion is crucial in tasks like these in order to avoid…
Recent advances in foundation models have shown promising results in developing generalist robotics that can perform diverse tasks in open-ended scenarios given multimodal inputs. However, current work has been mainly focused on indoor,…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…