Related papers: Robotics Vision-based Heuristic Reasoning for Unde…
This paper introduces mathematical models of \sensors\ for mobile robots based on visibility. Serving a purpose similar to the pinhole camera model for computer vision, the introduced models are expected to provide a useful, idealized…
Image-goal navigation steers an agent to a target location specified by an image in unseen environments. Existing methods primarily handle this task by learning an end-to-end navigation policy, which compares the similarities of target and…
Underwater marine inspections for ship hull or marine debris, etc. are one of the vital measures carried out to ensure the safety of marine structures and underwater species. This work details the design, development and qualification of a…
Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…
The accurate visual tracking of a moving object is a human fundamental skill that allows to reduce the relative slip and instability of the object's image on the retina, thus granting a stable, high-quality vision. In order to optimize…
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…
The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship owner, in addition to the danger that this kind of hostile…
Marine robots, particularly Unmanned Surface Vessels (USVs), have gained considerable attention for their diverse applications in maritime tasks, including search and rescue, environmental monitoring, and maritime security. This paper…
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…
The basic idea behind evolutionary robotics is to evolve a set of neural controllers for a particular task at hand. It involves use of various input parameters such as infrared sensors, light sensors and vision based methods. This paper…
We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…
In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…
Goal recognition is the problem of inferring the goal of an agent, based on its observed actions. An inspiring approach - plan recognition by planning (PRP) - uses off-the-shelf planners to dynamically generate plans for given goals,…
In-situ visual observations of marine organisms is crucial to developing behavioural understandings and their relations to their surrounding ecosystem. Typically, these observations are collected via divers, tags, and remotely-operated or…
For mobile robots, mobile manipulators, and autonomous vehicles to safely navigate around populous places such as streets and warehouses, human observers must be able to understand their navigation intent. One way to enable such…
This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…
Vision-based target tracking is crucial for unmanned surface vehicles (USVs) to perform tasks such as inspection, monitoring, and surveillance. However, real-time tracking in complex maritime environments is challenging due to dynamic…
In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
Stream processing and reasoning is getting considerable attention in various application domains such as IoT, Industry IoT and Smart Cities. In parallel, reasoning and knowledge-based features have attracted research into many areas of…