相关论文: Incremental Map Generation by Low Cost Robots Base…

In this paper we tackle the problem of persistently covering a complex non-convex environment with a team of robots. We consider scenarios where the coverage quality of the environment deteriorates with time, requiring to constantly revisit…

In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…

We consider the problem of classifying a map using a team of communicating robots. It is assumed that all robots have localized visual sensing capabilities and can exchange their information with neighboring robots. Using a graph…

Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…

In this article we describe an algorithm that can be applied for the generation of various classes of maps on orientable surfaces. It uses existing generators for abstract graphs and combines them with an efficient embedding and isomorphism…

Humans can only interact with part of the surrounding environment due to biological restrictions. Therefore, we learn to reason the spatial relationships across a series of observations to piece together the surrounding environment.…

Efficient navigation through uneven terrain remains a challenging endeavor for autonomous robots. We propose a new geometric-based uneven terrain mapless navigation framework combining a Sparse Gaussian Process (SGP) local map with a…

Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…

This paper investigates the usefulness of reasoning about the uncertain presence of obstacles during path planning, which typically stems from the usage of probabilistic occupancy grid maps for representing the environment when mapping via…

2D top-down maps are commonly used for the navigation and exploration of mobile robots through unknown areas. Typically, the robot builds the navigation maps incrementally from local observations using onboard sensors. Recent works have…

Path planning in a changing environment is a challenging task in robotics, as moving objects impose time-dependent constraints. Recent planning methods primarily focus on the spatial aspects, lacking the capability to directly incorporate…

Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…

In this paper, we develop a systematic framework for the time-sequential compression of dynamic probabilistic occupancy grids. Our approach leverages ideas from signal compression theory to formulate an optimization problem that searches…

The ability to traverse an unknown environment is crucial for autonomous robot operations. However, due to the limited sensing capabilities and system constraints, approaching this problem with a single robot agent can be slow, costly, and…

Path planning in unknown environments is a crucial yet inherently challenging capability for mobile robots, which primarily encompasses two coupled tasks: autonomous exploration and point-goal navigation. In both cases, the robot must…

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…

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…

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…

Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…

Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…