相关论文: Approximate Robotic Mapping from sonar data by mod…

Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…

We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…

This paper presents a Fuzzy Cognitive Map model to quantify implicit bias in structured datasets where features can be numeric or discrete. In our proposal, problem features are mapped to neural concepts that are initially activated by…

We consider the problem of computing reachable sets directly from noisy data without a given system model. Several reachability algorithms are presented for different types of systems generating the data. First, an algorithm for computing…

Last two decades, the problem of robotic mapping has made a lot of progress in the research community. However, since the data provided by the sensor still contains noise, how to obtain an accurate map is still an open problem. In this…

This paper describes a system whereby a robot detects and track human-meaningful navigational cues as it navigates in an indoor environment. It is intended as the sensor front-end for a mobile robot system that can communicate its…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

The primary challenge for any autonomous system operating in realistic, rather unconstrained scenarios is to manage the complexity and uncertainty of the real world. While it is unclear how exactly humans and other higher animals master…

We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…

We introduce SENT-Map, a semantically enhanced topological map for representing indoor environments, designed to support autonomous navigation and manipulation by leveraging advancements in foundational models (FMs). Through representing…

This paper presents a novel method for qualitative mapping of large scale spaces. The proposed framework makes use of a graphical representation of the world in order to build a map consisting of qualitative constraints on the geometric…

Autonomous robots must operate in complex and changing environments subject to requirements on their behaviour. Verifying absolute satisfaction (true or false) of these requirements is challenging. Instead, we analyse requirements that…

In the pooled data problem, the goal is to identify the categories associated with a large collection of items via a sequence of pooled tests. Each pooled test reveals the number of items of each category within the pool. We study an…

Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation. These sensors, however, cannot detect transparent surfaces or measure the full occupancy of complex objects such as tables. Deep Neural…

This paper presents a novel approach for representing proprioceptive time-series data from quadruped robots as structured two-dimensional images, enabling the use of convolutional neural networks for learning locomotion-related tasks. The…

This paper explores leveraging large language models for map-free off-road navigation using generative AI, reducing the need for traditional data collection and annotation. We propose a method where a robot receives verbal instructions,…

Semantic grids can be useful representations of the scene around an autonomous system. By having information about the layout of the space around itself, a robot can leverage this type of representation for crucial tasks such as navigation…

Situational awareness for connected and automated vehicles describes the ability to perceive and predict the behavior of other road-users in the near surroundings. However, pedestrians can become occluded by vehicles or infrastructure,…

Consider a mobile robot tasked with localizing targets at unknown locations by obtaining relative measurements. The observations can be bearing or range measurements. How should the robot move so as to localize the targets and minimize the…

Collective perception is a foundational problem in swarm robotics, in which the swarm must reach consensus on a coherent representation of the environment. An important variant of collective perception casts it as a best-of-$n$…