Related papers: Designing Multi-Robot Ground Video Sensemaking wit…
Navigation is an essential capability for mobile robots. In this paper, we propose a generalized yet effective 3M (i.e., multi-robot, multi-scenario, and multi-stage) training framework. We optimize a mapless navigation policy with a robust…
This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…
Robot task planning is an important problem for autonomous robots in long-horizon challenging tasks. As large pre-trained models have demonstrated superior planning ability, recent research investigates utilizing large models to achieve…
Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…
Current tablet-based interfaces for drone operations often impose a heavy cognitive load on pilots and reduce situational awareness by dividing attention between the video feed and the real world. To address these challenges, we designed a…
We are considering the problem of controlling a team of robotic bodyguards protecting a VIP from physical assault in the presence of neutral and/or adversarial bystanders. This task is part of a much larger class of problems involving…
Crowd density level estimation is an essential aspect of crowd safety since it helps to identify areas of probable overcrowding and required conditions. Nowadays, AI systems can help in various sectors. Here for safety purposes or many for…
Autonomous systems are increasingly deployed in open and dynamic environments -- from city streets to aerial and indoor spaces -- where perception models must remain reliable under sensor noise, environmental variation, and platform shifts.…
Collaborative perception plays a crucial role in enhancing environmental understanding by expanding the perceptual range and improving robustness against sensor failures, which primarily involves collaborative 3D detection and tracking…
Multi-robot Motion Planning (MRMP) is an active research field which has gained attention over the years. MRMP has significant roles to improve the efficiency and reliability of multi-robot system in a wide range of applications from…
Integrating large language models (LLMs) into robotic systems has revolutionised embodied artificial intelligence, enabling advanced decision-making and adaptability. However, ensuring reliability, encompassing both security against…
Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…
We present a system for multi-level scene awareness for robotic manipulation. Given a sequence of camera-in-hand RGB images, the system calculates three types of information: 1) a point cloud representation of all the surfaces in the scene,…
Although robot-to-robot (R2R) communication improves indoor scene understanding beyond what a single robot can achieve, R2R alone cannot overcome partial observability without substantial exploration overhead or scaling team size. In…
As mobile robots become useful performing everyday tasks in complex real-world environments, they must be able to traverse a range of difficult terrain types such as stairs, stepping stones, gaps, jumps and narrow passages. This work…
Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…
The increasing availability of traffic videos functioning on a 24/7/365 time scale has the great potential of increasing the spatio-temporal coverage of traffic accidents, which will help improve traffic safety. However, analyzing footage…
With the proliferation of imaging sensors, the volume of multi-modal imagery far exceeds the ability of human analysts to adequately consume and exploit it. Full motion video (FMV) possesses the extra challenge of containing large amounts…
Deploying robotic missions can be challenging due to the complexity of controlling robots with multiple degrees of freedom, fusing diverse sensory inputs, and managing communication delays and interferences. In nuclear inspection, robots…
We build a mobile surveillance robot that streams video in real time and responds to speech so a user can monitor and steer it from a phone or browser. The system uses two Raspberry Pi 4 units: a front unit on a differential drive base with…