相关论文: Approximate Robotic Mapping from sonar data by mod…
In this work, we present a novel automated procedure for constructing a metric map of an unknown domain with obstacles using uncertain position data collected by a swarm of resource-constrained robots. The robots obtain this data during…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
We address the problem of controlling a mobile robot to explore a partially known environment. The robot's objective is the maximization of the amount of information collected about the environment. We formulate the problem as a partially…
We propose a data-driven algorithm for the maximum a posteriori (MAP) estimation of stochastic processes from noisy observations. The primary statistical properties of the sought signal is specified by the penalty function (i.e., negative…
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…
Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…
In the near future, more and more machines will perform tasks in the vicinity of human spaces or support them directly in their spatially bound activities. In order to simplify the verbal communication and the interaction between robotic…
Being a pair of dual concepts, the normalized distance and similarity measures are very important tools for decision-making and pattern recognition under intuitionistic fuzzy sets framework. To be more effective for decision-making and…
Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…
Object detection in sonar images is a key technology in underwater detection systems. Compared to natural images, sonar images contain fewer texture details and are more susceptible to noise, making it difficult for non-experts to…
In this paper, we propose a method that, given a partial grid map of an indoor environment built by an autonomous mobile robot, estimates the amount of the explored area represented in the map, as well as whether the uncovered part is still…
Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…
We introduce a theoretical approach for designing generalizations of the approximate message passing (AMP) algorithm for compressed sensing which are valid for large observation matrices that are drawn from an invariant random matrix…
Visual-audio navigation (VAN) is attracting more and more attention from the robotic community due to its broad applications, \emph{e.g.}, household robots and rescue robots. In this task, an embodied agent must search for and navigate to…
In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…
Recent advancements in statistical learning and computational abilities have enabled autonomous vehicle technology to develop at a much faster rate. While many of the architectures previously introduced are capable of operating under highly…
Model-based approaches bear great promise for decision making of agents interacting with the physical world. In the context of spatial environments, different types of problems such as localisation, mapping, navigation or autonomous…
Human-robot interaction requires a common understanding of the operational environment, which can be provided by a representation that blends geometric and symbolic knowledge: a semantic map. Through a semantic map the robot can interpret…
Our aim of this paper is to develop new map matching algorithms and to improve upon previous work. We address two key approaches: Analytic Hierarchy Process (AHP) map matching and fuzzy logic map matching. AHP is a decision-making method…
A model to represent spatial information is presented in this paper. It is based on fuzzy constraints represented as fuzzy geometric relations that can be hierarchically structured. The concept of spatial template is introduced to capture…