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Network spaces have been known as a critical factor in both handcrafted network designs or defining search spaces for Neural Architecture Search (NAS). However, an effective space involves tremendous prior knowledge and/or manual effort,…
Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends scene graphs to hierarchical layers, adding and leveraging…
Perception algorithms are ubiquitous in modern autonomy stacks, providing necessary environmental information to operate in the real world. Many of these algorithms depend on the visibility of keypoints, which must remain within the robot's…
Graph-searching algorithms play a crucial role in various computational domains, enabling efficient exploration and pathfinding in structured data. Traditional approaches, such as Depth-First Search (DFS) and Breadth-First Search (BFS),…
Active visual exploration addresses the issue of limited sensor capabilities in real-world scenarios, where successive observations are actively chosen based on the environment. To tackle this problem, we introduce a new technique called…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
To carry out autonomous 3D scanning and online reconstruction of unknown indoor scenes, one has to find a balance between global exploration of the entire scene and local scanning of the objects within it. In this work, we propose a novel…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…
Several deployment locations of mobile robotic systems are human made (i.e. urban firefighter, building inspection, property security) and the manager may have access to domain-specific knowledge about the place, which can provide semantic…
Near-field perception is essential for the safe operation of autonomous mobile robots (AMRs) in manufacturing environments. Conventional ranging sensors such as light detection and ranging (LiDAR) and ultrasonic devices provide broad…
Active search refers to the problem of efficiently locating targets in an unknown environment by actively making data-collection decisions, and has many applications including detecting gas leaks, radiation sources or human survivors of…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
Inspection planning, the task of planning motions that allow a robot to inspect a set of points of interest, has applications in domains such as industrial, field, and medical robotics. Inspection planning can be computationally…
Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…
Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks,…
We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps. The competing resources of…
Modern robotics often involves multiple embodied agents operating within a shared environment. Path planning in these cases is considerably more challenging than in single-agent scenarios. Although standard Sampling-based Algorithms (SBAs)…
Active Search has become an increasingly useful tool in information retrieval problems where the goal is to discover as many target elements as possible using only limited label queries. With the advent of big data, there is a growing…
In this paper, we examine the problem of visibility-aware robot navigation among movable obstacles (VANAMO). A variant of the well-known NAMO robotic planning problem, VANAMO puts additional visibility constraints on robot motion and object…