Related papers: Beyond Geometry: Efficient Topologically-Grounded …
As mobile robots find increasing use in outdoor applications, designing energy-efficient robot navigation algorithms is gaining importance. There are two primary approaches to energy efficient navigation: Offline approaches rely on a…
Manifolds occur naturally as configuration spaces of robotic systems. They provide global descriptions of local coordinate systems that are common tools in expressing positions of robots. The purpose of this survey is threefold. Firstly, we…
This paper presents an effective and reliable pose tracking solution, termed ERPoT, for mobile robots operating in large-scale outdoor and challenging indoor environments, underpinned by an innovative prior polygon map. Especially, to…
This paper develops and evaluates a novel method that allows for the detection of affordances in a scalable and multiple-instance manner on visually recovered pointclouds. Our approach has many advantages over alternative methods, as it is…
Real-time efficient perception is critical for autonomous navigation and city scale sensing. Orthogonal to architectural improvements, streaming perception approaches have exploited adaptive sampling improving real-time detection…
This paper addresses the challenge of navigation in large, visually complex environments with sparse rewards. We propose a method that uses object-oriented macro actions grounded in a topological map, allowing a simple Deep Q-Network (DQN)…
To help bridge the gap between internet vision-style problems and the goal of vision for embodied perception we instantiate a large-scale navigation task -- Embodied Question Answering [1] in photo-realistic environments (Matterport 3D). We…
Long-horizon navigation in unstructured environments demands terrain abstractions that scale to tens of km$^2$ while preserving semantic and geometric structure, a combination existing methods fail to achieve. Grids scale poorly; quadtrees…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…
Robot exploration aims at the reconstruction of unknown environments, and it is important to achieve it with shorter paths. Traditional methods focus on optimizing the visiting order of frontiers based on current observations, which may…
Our brain has an inner global positioning system which enables us to sense and navigate 3D spaces in real time. Can mobile robots replicate such a biological feat in a dynamic environment? We introduce the first spatial reasoning framework…
Scene graphs have emerged as a powerful tool for robots, providing a structured representation of spatial and semantic relationships for advanced task planning. Despite their potential, conventional 3D indoor scene graphs face critical…
Motion segmentation in dynamic scenes is highly challenging, as conventional methods heavily rely on estimating camera poses and point correspondences from inherently noisy motion cues. Existing statistical inference or iterative…
Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…
Efficient video architecture is the key to deploying video recognition systems on devices with limited computing resources. Unfortunately, existing video architectures are often computationally intensive and not suitable for such…
This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…
The use of visual information for the navigation of unmanned ground vehicles in a cross-country environment recently received great attention. However, until now, the use of textural information has been somewhat less effective than color…
If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…
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…
Unforeseen events are frequent in the real-world environments where robots are expected to assist, raising the need for fast replanning of the policy in execution to guarantee the system and environment safety. Inspired by human behavioural…