Related papers: Learning to Predict Mobile Robot Stability in Off-…
This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…
Legged robot locomotion is a challenging task due to a myriad of sub-problems, such as the hybrid dynamics of foot contact and the effects of the desired gait on the terrain. Accurate and efficient state estimation of the floating base and…
Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
Optimizing energy consumption for robot navigation in fields requires energy-cost maps. However, obtaining such a map is still challenging, especially for large, uneven terrains. Physics-based energy models work for uniform, flat surfaces…
Reinforcement learning can enable complex, adaptive behavior to be learned automatically for autonomous robotic platforms. However, practical deployment of reinforcement learning methods must contend with the fact that the training process…
In this paper, we consider a position estimation problem for an unmanned aerial vehicle (UAV) equipped with both proprioceptive sensors, i.e. IMU, and exteroceptive sensors, i.e. GPS and a barometer. We propose a data-driven position…
Humans possess delicate dynamic balance mechanisms that enable them to maintain stability across diverse terrains and under extreme conditions. However, despite significant advances recently, existing locomotion algorithms for humanoid…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Muddy terrains present significant challenges for terrestrial robots, as subtle changes in composition and water content can lead to large variations in substrate strength and force responses, causing the robot to slip or get stuck. This…
Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…
Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with…
Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip and sinkage, causing the eventual mission failure. To improve…
Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…
Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…
Identifying the physical properties of the surrounding environment is essential for robotic locomotion and navigation to deal with non-geometric hazards, such as slippery and deformable terrains. It would be of great benefit for robots to…
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the…