Related papers: Adaptive Cost-Map-based Path Planning in Partially…
This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the prior 2D navigation map via SLAM to generate a sequence of…
The rapid advancement of the metaverse, digital twins, and robotics underscores the demand for low-cost, portable mapping systems for reality capture. Current mobile solutions, such as the Leica BLK2Go and lidar-equipped smartphones, either…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
Dynamic path planning must remain reliable in the presence of sensing noise, uncertain localization, and incomplete semantic perception. We propose a practical, implementation-friendly planner that operates on occupancy grids and optionally…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…
In this work, we propose the LiDAR Road-Atlas, a compactable and efficient 3D map representation, for autonomous robot or vehicle navigation in general urban environment. The LiDAR Road-Atlas can be generated by an online mapping framework…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…
Autonomous mobile robots operating in remote, unstructured environments must adapt to new, unpredictable terrains that can change rapidly during operation. In such scenarios, a critical challenge becomes estimating the robot's dynamics on…
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local…
Several planners have been developed to compute dynamically feasible, collision-free robot paths from an initial to a goal configuration. A key assumption in these works is that the goal region is reachable; an assumption that often fails…
Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…
We propose a novel method for autonomous legged robot navigation in densely vegetated environments with a variety of pliable/traversable and non-pliable/untraversable vegetation. We present a novel few-shot learning classifier that can be…
Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…
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…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…