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Understanding the geometric and semantic properties of the scene is crucial in autonomous navigation and particularly challenging in the case of Unmanned Aerial Vehicle (UAV) navigation. Such information may be by obtained by estimating…
This work focuses on the problem of visual target navigation, which is very important for autonomous robots as it is closely related to high-level tasks. To find a special object in unknown environments, classical and learning-based…
This paper presents our approach to develop a method for an unmanned ground vehicle (UGV) to perform inspection tasks in nuclear environments using rich information maps. To reduce inspectors' exposure to elevated radiation levels, an…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…
This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…
This work presents an innovative solution for robotic odometry, path planning and exploration in wild unknown environments, focusing on digital modelling. The approach uses a minimum cost formulation with pseudo-randomly generated…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
Text-to-CAD code generation is a long-horizon task that translates textual instructions into long sequences of interdependent operations. Existing methods typically decode text directly into executable code (e.g., bpy) without explicitly…
We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from an RGB camera, 3D LiDAR, and the robot's odometry sensor to…
We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architecture centers on three synergistic modules -- multi-modal…
Humans can produce complex whole-body motions when interacting with their surroundings, by planning, executing and combining individual limb movements. We investigated this fundamental aspect of motor control in the setting of autonomous…
This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability…
The exceptional mobility and long endurance of air-ground robots are raising interest in their usage to navigate complex environments (e.g., forests and large buildings). However, such environments often contain occluded and unknown…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Ground robots require the crucial capability of traversing unstructured and unprepared terrains and avoiding obstacles to complete tasks in real-world robotics applications such as disaster response. When a robot operates in off-road field…
Autonomous exploration is a widely studied fundamental application in the field of quadrotors, which requires them to automatically explore unknown space to obtain complete information about the environment. The frontier-based method, which…
The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
Autonomous robots are increasingly playing key roles as support platforms for human operators in high-risk, dangerous applications. To accomplish challenging tasks, an efficient human-robot cooperation and understanding is required. While…