Related papers: OmniPlanner: Universal Exploration and Inspection …
The pursuit of general-purpose embodied agents is hindered by fragmented evaluation protocols that isolate navigation skills and fixate on specific robot morphologies, failing to reflect real-world scenarios where agents must orchestrate…
Practical global path planning is critical for commercializing cleaning robots working in semi-structured environments. In the literature, global path planning methods for free space usually focus on path length and neglect the traffic rule…
Planning for multi-robot coverage seeks to determine collision-free paths for a fleet of robots, enabling them to collectively observe points of interest in an environment. Persistent coverage is a variant of traditional coverage where…
Trajectory planning in unstructured environments is a fundamental and challenging capability for mobile robots. Traditional modular pipelines suffer from latency and cascading errors across perception, localization, mapping, and planning…
In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably large, especially if the robot is capable of performing many…
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
Surveillance and exploration of large environments is a tedious task. In spaces with limited environmental cues, random-like search is an effective approach as it allows the robot to perform online coverage of environments using simple…
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…
Autonomous exploration is a fundamental capability that tightly integrates perception, planning, control, and motion execution. It plays a critical role in a wide range of applications, including indoor target search, mapping of extreme…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framework for navigation in unknown and partially-observable…
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…
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…
This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and pathplanning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been…
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…
Automated decision-making is becoming key for automated characterization including electron and scanning probe microscopies and nano indentation. Most machine learning driven workflows optimize a single predefined objective and tend to…
This paper introduces a novel automatic coverage path planning algorithm for bathymetry surveying with unmanned surface vehicles. The detection range of the mapping sensor employed - a multibeam echo sounder - is heavily influenced by local…
Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…