Related papers: Robust Localization, Mapping, and Navigation for Q…
Soft growing robots, are a type of robots that are designed to move and adapt to their environment in a similar way to how plants grow and move with potential applications where they could be used to navigate through tight spaces, dangerous…
Continuous robot operation in extreme scenarios such as underground mines or sewers is difficult because exteroceptive sensors may fail due to fog, darkness, dirt or malfunction. So as to enable autonomous navigation in these kinds of…
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…
This paper presents a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, with a focus on improving precision and adaptability. Our approach centers on a sim-to-real methodology that…
We need intelligent robots for mobile construction, the process of navigating in an environment and modifying its structure according to a geometric design. In this task, a major robot vision and learning challenge is how to exactly achieve…
Quadruped-based mobile manipulation presents significant challenges in robotics due to the diversity of required skills, the extended task horizon, and partial observability. After presenting a multi-stage pick-and-place task as a succinct…
Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, such degrees of intelligence are not easy to obtain.…
Simultaneous mapping and localization (SLAM) in an real indoor environment is still a challenging task. Traditional SLAM approaches rely heavily on low-level geometric constraints like corners or lines, which may lead to tracking failure in…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Either when acting as mobile manipulators or just as all-terrain…
Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Quadruped robots require robust and general locomotion skills to exploit their mobility potential in complex and challenging environments. In this work, we present the first implementation of a robust end-to-end learning-based controller on…
Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…
In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…
For autonomous quadruped robot navigation in various complex environments, a typical SOTA system is composed of four main modules -- mapper, global planner, local planner, and command-tracking controller -- in a hierarchical manner. In this…
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…
This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…
Positioning of underwater robots in confined and cluttered spaces remains a key challenge for field operations. Existing systems are mostly designed for large, open-water environments and struggle in industrial settings due to poor…