Related papers: HiPAN: Hierarchical Posture-Adaptive Navigation fo…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address…
Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere…
Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…
Vision-and-Language Navigation (VLN) empowers agents to associate time-sequenced visual observations with corresponding instructions to make sequential decisions. However, generalization remains a persistent challenge, particularly when…
Autonomous robots exploring unknown environments face a significant challenge: navigating effectively without prior maps and with limited external feedback. This challenge intensifies in sparse reward environments, where traditional…
Quadruped robots are increasingly deployed in unstructured environments. Safe locomotion in these settings requires long-horizon goal progress, passability over uneven terrain and static constraints, and collision avoidance against…
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…
Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and…
In this work, we propose an attention-based deep reinforcement learning approach to address the adaptive informative path planning (IPP) problem in 3D space, where an aerial robot equipped with a downward-facing sensor must dynamically…
In this paper, we introduce HDPlanner, a deep reinforcement learning (DRL) based framework designed to tackle two core and challenging tasks for mobile robots: autonomous exploration and navigation, where the robot must optimize its…
Reinforcement Learning (RL) has proven largely effective in obtaining stable locomotion gaits for legged robots. However, designing control algorithms which can robustly navigate unseen environments with obstacles remains an ongoing problem…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and…
Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Object packing by autonomous robots is an im-portant challenge in warehouses and logistics industry. Most conventional data-driven packing planning approaches focus on regular cuboid packing, which are usually heuristic and limit the…
Quadrupedal robots show great potential for valuable real-world applications such as fire rescue and industrial inspection. Such applications often require urgency and the ability to navigate agilely, which in turn demands the capability to…
Wheeled-legged robots combine the efficiency of wheels with the obstacle negotiation of legs, yet many state-of-the-art systems rely on costly actuators and sensors, and fall-recovery is seldom integrated, especially for wheeled-legged…
This paper presents the framework for a novel Unified Socially-Aware Navigation (USAN) architecture and explains its need in Socially Assistive Robotics (SAR) applications. Our approach emphasizes interpersonal distance and how spatial…