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Recent neural networks based surface reconstruction can be roughly divided into two categories, one warping templates explicitly and the other representing 3D surfaces implicitly. To enjoy the advantages of both, we propose a novel 3D…
Path planning in narrow passages is a challenging problem in various applications. Traditional planning algorithms often face challenges in complex environments like mazes and traps, where narrow entrances require special orientation…
This paper presents a new trajectory planning method for multiple quadrotors in obstacle-dense environments. We suggest a relative safe flight corridor (RSFC) to model safe region between a pair of agents, and it is used to generate linear…
In this article we present a unified framework based on receding horizon techniques that can be used to design the three tasks (guidance, navigation and path-planning) which are involved in the autonomy of unmanned vehicles. This tasks are…
This paper presents a sampled-data framework for the safe navigation of controlled agents in environments cluttered with obstacles governed by uncertain linear dynamics. Collision-free motion is achieved by combining Control Barrier…
Recent advances in autonomous driving for uncrewed ground vehicles (UGVs) have spurred significant development, particularly in challenging terrains. This paper introduces a classification system assessing various UGV deployments reported…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
In the context of mobile navigation in unstructured environments, the predominant approach entails the avoidance of obstacles. The prevailing path planning algorithms are contingent upon deviating from the intended path for an indefinite…
Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capabilities of the quadruped robot are anisotropic along…
The anticipated widespread use of unmanned aerial vehicles (UAVs) raises significant safety and security concerns, including trespassing in restricted areas, colliding with other UAVs, and disrupting high-traffic airspaces. To mitigate…
Obstacle detection plays an important role in unmanned surface vehicles (USV). The USVs operate in highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, a pier, or a part of a shoreline, which…
For the safe and successful navigation of autonomous vehicles in unstructured environments, the traversability of terrain should vary based on the driving capabilities of the vehicles. Actual driving experience can be utilized in a…
In this paper we propose MA-DV2F: Multi-Agent Dynamic Velocity Vector Field. It is a framework for simultaneously controlling a group of vehicles in challenging environments. DV2F is generated for each vehicle independently and provides a…
Visual navigation for robotics is inspired by the human ability to navigate environments using visual cues and memory, eliminating the need for detailed maps. In unseen, unmapped, or GPS-denied settings, traditional metric map-based methods…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
Autonomous navigation by drones using onboard sensors combined with machine learning and computer vision algorithms is impacting a number of domains, including agriculture, logistics, and disaster management. In this paper, we examine the…
In this article, a novel combined aerial cooperative tethered carrying and path planning framework is introduced with a special focus on applications in confined environments. The proposed work is aiming towards solving the path planning…
Autonomous navigation in complex environments is a crucial task in time-sensitive scenarios such as disaster response or search and rescue. However, complex environments pose significant challenges for autonomous platforms to navigate due…
People navigating in unfamiliar buildings take advantage of myriad visual, spatial and semantic cues to efficiently achieve their navigation goals. Towards equipping computational agents with similar capabilities, we introduce Pathdreamer,…
Search and rescue environments exhibit challenging 3D geometry (e.g., confined spaces, rubble, and breakdown), which necessitates agile and maneuverable aerial robotic systems. Because these systems are size, weight, and power (SWaP)…