Related papers: Beyond Geometry: Efficient Topologically-Grounded …
Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
Sampling-based algorithms for robot path planning offer probabilistic completeness and strong empirical convergence properties across environments with diverse obstacle configurations. However, in practice, these methods often require many…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
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…
We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…
Transport in crowded, complex environments occurs across many spatial scales. Geometric restrictions can hinder the motion of individuals and, combined with crowding between individuals, can have drastic effects on global transport…
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…
A mobile robot represented by a point moving in the plane has to explore an unknown terrain with obstacles. Both the terrain and the obstacles are modeled as arbitrary polygons. We consider two scenarios: the unlimited vision, when the…
Navigation and inspection in confined environments, such as tunnels and pipes, pose significant challenges for existing robots due to limitations in maneuverability and adaptability to varying geometries. Vine robots, which are soft growing…
This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
This paper presents a novel feedback motion planning method for mobile robot navigation in 3D uneven terrains. We take advantage of the \textit{supervoxel} representation of point clouds, which enables a compact connectivity graph of…
Visual navigation ability is strongly tied to its underlying representation of the world. Unlike classical 3D maps that require globally-consistent geometry, image- or object-relative topological graphs almost entirely do away with…
In this paper, we propose a 3D path planning method that integrates the A* algorithm with the octree structure. Unmanned Ground Vehicles (UGVs) and legged robots have been extensively studied, enabling locomotion across a variety of…
Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…
Surface extraction from implicit neural representations modelling a single class surface is a well-known task. However, there exist no surface extraction methods from an implicit representation of multiple classes that guarantee topological…
A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…
3D visual grounding has made notable progress in localizing objects within complex 3D scenes. However, grounding referring expressions beyond objects in 3D scenes remains unexplored. In this paper, we introduce Anywhere3D-Bench, a holistic…
Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…