Related papers: Egocentric Path Integration Models and their Appli…
Animals often exhibit changes in their behavior during migration. Telemetry data provide a way to observe geographic position of animals over time, but not necessarily changes in the dynamics of the movement process. Continuous-time models…
We present a methodology for fast prototyping of morphologies and controllers for robot locomotion. Going beyond simulation-based approaches, we argue that the form and function of a robot, as well as their interplay with real-world…
This letter summarizes some known properties and also presents several new properties of the Numerical Integration (NI) method for time-optimal trajectory planning along a specified path. The contribution is that rigorous mathematical…
Accurate distance estimation from monocular cameras is essential for intelligent monitoring systems. In many deployments, image coordinates are mapped to ground positions using planar homographies initialized by manual selection of…
How do pedestrians choose their paths within city street networks? Researchers have tried to shed light on this matter through strictly controlled experiments, but an ultimate answer based on real-world mobility data is still lacking. Here,…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…
To proactively navigate and traverse various terrains, active use of visual perception becomes indispensable. We aim to investigate the feasibility and performance of using sparse visual observations to achieve perceptual locomotion over a…
Feedforward steering control is a key component of hierarchical control architectures for autonomous racing. The goal is to reduce steering corrections from the feedback controllers by predicting the vehicle's inverse lateral dynamics. This…
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…
Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…
Understanding human motion is crucial for accurate pedestrian trajectory prediction. Conventional methods typically rely on supervised learning, where ground-truth labels are directly optimized against predicted trajectories. This amplifies…
Mobile robots, especially those driving outdoors and in unstructured terrain, sometimes suffer from failures and errors in locomotion, like unevenly pressurized or flat tires, loose axes or de-tracked tracks. Those are errors that go…
Elastic geodesic grids deploy from flat to spatial configurations via complex nonlinear motion that is difficult to represent robustly for simulation. We present a geometric guidance framework that discretizes deployment as synchronized,…
Embedding high-dimensional data into a low-dimensional space is an indispensable component of data analysis. In numerous applications, it is necessary to align and jointly embed multiple datasets from different studies or experimental…
This work tackles scene understanding for outdoor robotic navigation, solely relying on images captured by an on-board camera. Conventional visual scene understanding interprets the environment based on specific descriptive categories.…
Trajectory optimization is a central component of fast and efficient autonomous racing. However practical optimization pipelines remain highly sensitive to initialization and may converge slowly or to suboptimal local solutions when seeded…
Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in a stable manner. Similarly, legged robots need to develop their ability to stably…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful…