相关论文: Obstacle Avoidance Strategy using Onboard Stereo V…

Obstacle avoidance for DMPs is still a challenging problem. In our previous work, we proposed a framework for obstacle avoidance based on superquadric potential functions to represent volumes. In this work, we extend our previous work to…

In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…

We propose a novel flow synthesis based visual servoing framework enabling long-range obstacle avoidance for Micro Air Vehicles (MAV) flying amongst tall skyscrapers. Recent deep learning based frameworks use optical flow to do…

The paper presents a vision-based obstacle avoidance strategy for lightweight self-driving cars that can be run on a CPU-only device using a single RGB-D camera. The method consists of two steps: visual perception and path planning. The…

Modern autonomous vehicles (AVs) often rely on vision, LIDAR, and even radar-based simultaneous localization and mapping (SLAM) frameworks for precise localization and navigation. However, modern SLAM frameworks often lead to unacceptably…

Navigating unmanned aerial vehicles in environments where GPS signals are unavailable poses a compelling and intricate challenge. This challenge is further heightened when dealing with Nano Aerial Vehicles (NAVs) due to their compact size,…

Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…

Depth estimation-based obstacle avoidance has been widely adopted by autonomous systems (drones and vehicles) for safety purpose. It normally relies on a stereo camera to automatically detect obstacles and make flying/driving decisions,…

Unmanned aerial vehicles (UAVs) offer dynamic trajectory control, enabling them to avoid obstacles and establish line-of-sight (LoS) wireless channels with ground nodes (GNs), unlike traditional ground-fixed base stations. This study…

Dynamic obstacle avoidance on quadrotors requires low latency. A class of sensors that are particularly suitable for such scenarios are event cameras. In this paper, we present a deep learning -- based solution for dodging multiple dynamic…

This paper presents a study on autonomous robot navigation, focusing on three key behaviors: Odometry, Target Tracking, and Obstacle Avoidance. Each behavior is described in detail, along with experimental setups for simulated and…

This paper introduces a novel approach for robot navigation in challenging dynamic environments. The proposed method builds upon the concept of Velocity Obstacles (VO) that was later extended to Nonlinear Velocity Obstacles (NLVO) to…

Detecting small obstacles on the road ahead is a critical part of the driving task which has to be mastered by fully autonomous cars. In this paper, we present a method based on stereo vision to reliably detect such obstacles from a moving…

Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…

Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas, which are always subjected to the presence of static and dynamic obstacles. Inspired by the…

Obstacle avoidance is one of the essential and indispensable functions for autonomous mobile robots. Most of the existing solutions are typically based on single condition constraint and cannot incorporate sensor data in a real-time manner,…

Humans are remarkable at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance robust to partial and poor…

Robust obstacle avoidance is one of the critical steps for successful goal-driven indoor navigation tasks.Due to the obstacle missing in the visual image and the possible missed detection issue, visual image-based obstacle avoidance…

Nano-drones, with their small, lightweight design, are ideal for confined-space rescue missions and inherently safe for human interaction. However, their limited payload restricts the critical sensing needed for ego-velocity estimation and…

Obstacle avoidance is an essential topic in the field of autonomous drone research. When choosing an avoidance algorithm, many different options are available, each with their advantages and disadvantages. As there is currently no consensus…