Related papers: HuNavSim 2.0: An Enhanced Human Navigation Simulat…
This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human…
We claim that navigation in human environments can be viewed as cooperative activity especially in constrained situations. Humans concurrently aid and comply with each other while moving in a shared space. Cooperation helps pedestrians to…
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…
This paper presents the framework for a novel Unified Socially-Aware Navigation (USAN) architecture and explains its need in Socially Assistive Robotics (SAR) applications. Our approach emphasizes interpersonal distance and how spatial…
For the most comfortable, human-aware robot navigation, subjective user preferences need to be taken into account. This paper presents a novel reinforcement learning framework to train a personalized navigation controller along with an…
We present a new interface for controlling a navigation robot in novel environments using coordinated gesture and language. We use a TurtleBot3 robot with a LIDAR and a camera, an embodied simulation of what the robot has encountered while…
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…
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…
Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…
Underwater robotic surveys can be costly due to the complex working environment and the need for various sensor modalities. While underwater simulators are essential, many existing simulators lack sufficient rendering quality, restricting…
Mobile robots are increasingly populating homes, hospitals, shopping malls, factory floors, and other human environments. Human society has social norms that people mutually accept; obeying these norms is an essential signal that someone is…
In this paper, we introduce OpenSocInt, an open-source software package providing a simulator for multi-modal social interactions and a modular architecture to train social agents. We described the software package and showcased its…
Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten…
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…
This paper presents a novel autonomous surface vessel (ASV), called Roboat II for urban transportation. Roboat II is capable of accurate simultaneous localization and mapping (SLAM), receding horizon tracking control and estimation, and…
Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces. These aim to streamline and enhance the user interaction…
Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs…
Visually recognising a traversed route - regardless of whether seen during the day or night, in clear or inclement conditions, or in summer or winter - is an important capability for navigating robots. Since SeqSLAM was introduced in 2012,…
Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…
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…