Related papers: Bio-Inspired Hybrid Map: Spatial Implicit Local Fr…
In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…
Recognizing already explored places (a.k.a. place recognition) is a fundamental task in Simultaneous Localization and Mapping (SLAM) to enable robot relocalization and loop closure detection. In topological SLAM the recognition takes place…
Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…
Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
Several deployment locations of mobile robotic systems are human made (i.e. urban firefighter, building inspection, property security) and the manager may have access to domain-specific knowledge about the place, which can provide semantic…
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…
Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…
Autonomous navigation in complex and partially observable environments remains a central challenge in robotics. Several bio-inspired models of mapping and navigation based on place cells in the mammalian hippocampus have been proposed. This…
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…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…
Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…
Safe and efficient navigation in dynamic environments shared with humans remains an open and challenging task for mobile robots. Previous works have shown the efficacy of using reinforcement learning frameworks to train policies for…
Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…
In order to perform complex actions in human environments, an autonomous robot needs the ability to understand the environment, that is, to gather and maintain spatial knowledge. Topological map is commonly used for representing large…
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…
Mapping is an essential task for mobile robots and topological representation often works as a basis for the various applications. In this paper, a novel framework that can build topological maps incrementally is proposed. The algorithm is…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…