相关论文: Optimizing Gaze Direction in a Visual Navigation T…

We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…

Socially compliant navigation requires robots to move safely and appropriately in human-centered environments by respecting social norms. However, social norms are often ambiguous, and in a single scenario, multiple actions may be equally…

An algorithm for pose and motion estimation using corresponding features in omnidirectional images and a digital terrain map is proposed. In previous paper, such algorithm for regular camera was considered. Using a Digital Terrain (or…

We consider opportunistic communications over multiple channels where the state ("good" or "bad") of each channel evolves as independent and identically distributed Markov processes. A user, with limited sensing and access capability,…

Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…

Autonomous navigation emerges from both motion and local visual perception in real-world environments. However, most successful robotic motion estimation methods (e.g. VO, SLAM, SfM) and vision systems (e.g. CNN, visual place…

The question of how "smart" active agents, like insects, microorganisms, or future colloidal robots need to steer to optimally reach or discover a target, such as an odor source, food, or a cancer cell in a complex environment has recently…

Most current approaches to social navigation focus on the trajectory and position of participants in the interaction. Our current work on the topic focuses on integrating gaze into social navigation, both to cue nearby pedestrians as to the…

As robots have become increasingly common in human-rich environments, it is critical that they are able to exhibit social cues to be perceived as a cooperative and socially-conformant team member. We investigate the effect of robot gaze…

This paper studies the synthesis of a joint control and active perception policy for a stochastic system modeled as a partially observable Markov decision process (POMDP), subject to temporal logic specifications. The POMDP actions…

The problem of finding a next best viewpoint for 3D modeling or scene mapping has been explored in computer vision over the last decade. This paper tackles a similar problem, but with different characteristics. It proposes a method for…

To coordinate with other systems, agents must be able to determine what the systems are currently doing and predict what they will be doing in the future---plan and goal recognition. There are many methods for plan and goal recognition, but…

In this paper, we address the problem of stochastic motion planning under partial observability, more specifically, how to navigate a mobile robot equipped with continuous range sensors such as LIDAR. In contrast to many existing robotic…

Decision-making under uncertainty is a crucial ability for autonomous systems. In its most general form, this problem can be formulated as a Partially Observable Markov Decision Process (POMDP). The solution policy of a POMDP can be…

Learning to navigate in complex environments with dynamic elements is an important milestone in developing AI agents. In this work we formulate the navigation question as a reinforcement learning problem and show that data efficiency and…

We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully…

This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…

Partially observable Markov decision processes (POMDPs) provide an elegant mathematical framework for modeling complex decision and planning problems in stochastic domains in which states of the system are observable only indirectly, via a…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

Active classification, i.e., the sequential decision-making process aimed at data acquisition for classification purposes, arises naturally in many applications, including medical diagnosis, intrusion detection, and object tracking. In this…