Related papers: Safe mobility support system using crowd mapping a…

Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…

We present Frozone, a novel algorithm to deal with the Freezing Robot Problem (FRP) that arises when a robot navigates through dense scenarios and crowds. Our method senses and explicitly predicts the trajectories of pedestrians and…

We present a novel procedural framework to generate an arbitrary number of labeled crowd videos (LCrowdV). The resulting crowd video datasets are used to design accurate algorithms or training models for crowded scene understanding. Our…

Multi-Agent Path Finding (MAPF) in crowded environments presents a challenging problem in motion planning, aiming to find collision-free paths for all agents in the system. MAPF finds a wide range of applications in various domains,…

Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…

This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…

Forecasting human trajectories is critical for tasks such as robot crowd navigation and autonomous driving. Modeling social interactions is of great importance for accurate group-wise motion prediction. However, most existing methods do not…

The increasing demand for autonomous systems in complex and dynamic environments has driven significant research into intelligent path planning methodologies. For decades, graph-based search algorithms, linear programming techniques, and…

Skid-Steer Wheeled Mobile Robots (SSWMRs) are increasingly being used for off-road autonomy applications. When turning at high speeds, these robots tend to undergo significant skidding and slipping. In this work, using Gaussian Process…

This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

The advancement of robotics and autonomous navigation systems hinges on the ability to accurately predict terrain traversability. Traditional methods for generating datasets to train these prediction models often involve putting robots into…

An efficient and reliable multi-agent decision-making system is highly demanded for the safe and efficient operation of connected autonomous vehicles in intelligent transportation systems. Current researches mainly focus on the Deep…

With the rapid development of the e-commerce industry, the logistics network is experiencing unprecedented pressure. The traditional static routing strategy most time cannot tolerate the traffic congestion and fluctuating retail demand. In…

We present a novel high-level planning framework that leverages vision-language models (VLMs) to improve autonomous navigation in unknown indoor environments with many dead ends. Traditional exploration methods often take inefficient routes…

Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures,…

Integrating mobile robots into human society involves the fundamental problem of navigation in crowds. This problem has been studied by considering the behaviour of humans at the level of individuals, but this representation limits the…

The increasing demand for flexible and efficient urban transportation solutions has spotlighted the limitations of traditional Demand Responsive Transport (DRT) systems, particularly in accommodating diverse passenger needs and dynamic…

In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…

In Social Robot Navigation, autonomous agents need to resolve many sequential interactions with other agents. State-of-the art planners can efficiently resolve the next, imminent interaction cooperatively and do not focus on longer planning…