Related papers: TANGO: Traversability-Aware Navigation with Local …
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…
Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information…
Commonly, learning-based topological navigation approaches produce a local policy while preserving some loose connectivity of the space through a topological map. Nevertheless, spurious or missing edges in the topological graph often lead…
In robot navigation, generalizing quickly to unseen environments is essential. Hierarchical methods inspired by human navigation have been proposed, typically consisting of a high-level landmark proposer and a low-level controller. However,…
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…
Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topological, where image-as-node based graphs lack explicit…
Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…
Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Robotic navigation has been approached as a problem of 3D reconstruction and planning, as well as an end-to-end learning problem. However, long-range navigation requires both planning and reasoning about local traversability, as well as…
Recent results suggest that splitting topological navigation into robot-independent and robot-specific components improves navigation performance by enabling the robot-independent part to be trained with data collected by robots of…
We present a novel learning-based trajectory generation algorithm for outdoor robot navigation. Our goal is to compute collision-free paths that also satisfy the environment-specific traversability constraints. Our approach is designed for…
This paper presents an architecture and methodology to empower a service robot to navigate an indoor environment with semantic decision making, given RGB ego view. This method leverages the knowledge of robot's actuation capability and that…
It is important for robots to be able to decide whether they can go through a space or not, as they navigate through a dynamic environment. This capability can help them avoid injury or serious damage, e.g., as a result of running into…
Topological strategies for navigation meaningfully reduce the space of possible actions available to a robot, allowing use of heuristic priors or learning to enable computationally efficient, intelligent planning. The challenges in…
Motion planning for aerial manipulators in constrained environments has typically been limited to known environments or simplified to that of multi-rotors, which leads to poor adaptability and overly conservative trajectories. This paper…
Zero-shot object navigation is a challenging task for home-assistance robots. This task emphasizes visual grounding, commonsense inference and locomotion abilities, where the first two are inherent in foundation models. But for the…
Autonomous navigation in unstructured environments requires robots to assess terrain difficulty in real-time and plan paths that balance efficiency with safety. This thesis presents a traversability-aware navigation framework for the M4…
A fundamental task in robotics is to navigate between two locations. In particular, real-world navigation can require long-horizon planning using high-dimensional RGB images, which poses a substantial challenge for end-to-end learning-based…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…