相关论文: Exploring Grid Polygons Online
This paper deals with the CREP (Configuration REachability Problem) for non-uniform cellular automata (CAs). The cells of non-uniform CAs, we have considered here, can use different Wolfram's rules to generate their next states. We report…
As the presence of autonomous robots in public spaces increases-whether navigating campus walkways or neighborhood sidewalks-understanding how to carefully study these robots becomes critical. While HRI research has conducted field studies…
We investigate the exploration and mapping of anonymous graphs by a mobile agent. It is long known that, without global information about the graph, it is not possible to make the agent halt after the exploration except if the graph is a…
We present an application of hierarchical Bayesian estimation to robot map building. The revisiting problem occurs when a robot has to decide whether it is seeing a previously-built portion of a map, or is exploring new territory. This is a…
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy hard to achieve. This has motivated the DARPA Subterranean…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
The spatial Prisoner's Dilemma is a prototype model to show the emergence of cooperation in very competitive environments. It considers players, at site of lattices, that can either cooperate or defect when playing the Prisoner's Dilemma…
Building structures by low capability robots is a very recent research development. A robot (or a mobile agent) is designed as a deterministic finite automaton. The objective is to make a structure from a given distribution of materials…
The objective is the design of a Cellular Automata rule that can form patterns with 'touching' loops. A loop is defined as a closed path of 1-cells in a 2D grid on a zero background and with a zero border. A path cell is connected with two…
Path planning for robotic exploration is challenging, requiring reasoning over unknown spaces and anticipating future observations. Efficient exploration requires selecting budget-constrained paths that maximize information gain. Despite…
Optimization problems with drones are widely studied in a variety of civilian tasks, mainly due to their ability to traverse rough terrains and to carry cameras and other sensors for surveillance tasks. The limited battery life of these…
Quadruped robots demonstrate exceptional potential for navigating complex terrain in critical applications such as search and rescue missions and infrastructure inspection However autonomous traversal of confined 3D environments including…
Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
Cellular automata (CA) have been utilized for decades as discrete models of many physical, mathematical, chemical, biological, and computing systems. The most widely known form of CA, the elementary cellular automaton (ECA), has been…
Being able to explore unknown environments is a requirement for fully autonomous robots. Many learning-based methods have been proposed to learn an exploration strategy. In the frontier-based exploration, learning algorithms tend to learn…
Volumetric objectives for exploration and perception tasks seek to capture a sense of value (or reward) for hypothetical observations at one or more camera views for robots operating in unknown environments. For example, a volumetric…
Efficient exploration under sparse rewards remains a key challenge in deep reinforcement learning. To guide exploration, previous work makes extensive use of intrinsic reward (IR). There are many heuristics for IR, including visitation…
Robotic exploration under uncertain environments is challenging when optical information is not available. In this paper, we propose an autonomous solution of exploring an unknown task space based on tactile sensing alone. We first designed…
We present a general and intuitive ambiguity model for intersections, junctions and other structures in binary edge images. The model is combined with edge tracing, where edges are ordered sequences of connected pixels. The objective is to…