相关论文: Robotic Mapping with Polygonal Random Fields

Motion planning in an autonomous agent is responsible for providing smooth, safe and efficient navigation. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and…

One essential step to realize modern driver assistance technology is the accurate knowledge about the location of static objects in the environment. In this work, we use artificial neural networks to predict the occupation state of a whole…

Traditional approaches to mapping of environments in robotics make use of spatially discretized representations, such as occupancy grid maps. Modern systems, e.g. in agriculture or automotive applications, are equipped with a variety of…

Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem instances. Most variants do not sample uniformly at random, and…

Constructing an occupancy representation of the environment is a fundamental problem for robot autonomy. Many accurate and efficient methods exist that address this problem but most assume that the occupancy states of different elements in…

This paper addresses the challenge of Neural Field (NeF) generalization, where models must efficiently adapt to new signals given only a few observations. To tackle this, we propose Geometric Neural Process Fields (G-NPF), a probabilistic…

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…

Autonomous mobile robots deployed in outdoor environments must reason about different types of terrain for both safety (e.g., prefer dirt over mud) and deployer preferences (e.g., prefer dirt path over flower beds). Most existing solutions…

Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…

Very distinct strategies can be deployed to recognize and characterize an unknown environment or a shape. A recent and promising approach, especially in robotics, is to reduce the complexity of the exploratory units to a minimum. Here, we…

Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…

This report presents a new, algorithmic approach to the distributions of the distance between two points distributed uniformly at random in various polygons, based on the extended Kinematic Measure (KM) from integral geometry. We first…

Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion…

Two main families of node feature augmentation schemes have been explored for enhancing GNNs: random features and spectral positional encoding. Surprisingly, however, there is still no clear understanding of the relation between these two…

Maintaining an up-to-date map to reflect recent changes in the scene is very important, particularly in situations involving repeated traversals by a robot operating in an environment over an extended period. Undetected changes may cause a…

In practice, navigation of mobile robots in confined environments is often done using a spatially discrete cost-map to represent obstacles. Path following is a typical use case for model predictive control (MPC), but formulating constraints…

Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…

Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…

Active SLAM is the task of actively planning robot paths while simultaneously building a map and localizing within. Existing work has focused on planning paths with occupancy grid maps, which do not scale well and suffer from long term…

The random feature method (RFM) constructs approximation spaces by initializing features from generic distributions, which provides universal approximation properties to solve general partial differential equations. However, such standard…