相关论文: An Object-oriented approach to Robotic planning us…

This work studies the problem of object goal navigation which involves navigating to an instance of the given object category in unseen environments. End-to-end learning-based navigation methods struggle at this task as they are ineffective…

We need intelligent robots for mobile construction, the process of navigating in an environment and modifying its structure according to a geometric design. In this task, a major robot vision and learning challenge is how to exactly achieve…

We propose an algorithm to (i) learn online a deep signed distance function (SDF) with a LiDAR-equipped robot to represent the 3D environment geometry, and (ii) plan collision-free trajectories given this deep learned map. Our algorithm…

This work tackles the problem of robust zero-shot planning in non-stationary stochastic environments. We study Markov Decision Processes (MDPs) evolving over time and consider Model-Based Reinforcement Learning algorithms in this setting.…

This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

Motion planning for autonomous robots in tight, interaction-rich, and mixed human-robot environments is challenging. State-of-the-art methods typically separate prediction and planning, predicting other agents' trajectories first and then…

In this paper, we propose an autonomous exploration and a tapping mechanism-based material mapping system for a mobile robot in unknown environments. The goal of the proposed system is to integrate simultaneous localization and mapping…

Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively make safe and informed decisions. In this paper, we propose…

Robots operating in households must find objects on shelves, under tables, and in cupboards. In such environments, it is crucial to search efficiently at 3D scale while coping with limited field of view and the complexity of searching for…

As general purpose robots become more capable, pre-programming of all tasks at the factory will become less practical. We would like for non-technical human owners to be able to communicate, through interaction with their robot, the details…

This paper proposes a new reactive temporal logic planning algorithm for multiple robots that operate in environments with unknown geometry modeled using occupancy grid maps. The robots are equipped with individual sensors that allow them…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

This paper presents a hybrid online Partially Observable Markov Decision Process (POMDP) planning system that addresses the problem of autonomous navigation in the presence of multi-modal uncertainty introduced by other agents in the…

Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for long trips. This work proposes an anytime iterative system…

Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…

Navigation has been classically solved in robotics through the combination of SLAM and planning. More recently, beyond waypoint planning, problems involving significant components of (visual) high-level reasoning have been explored in…

Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…

To accomplish tasks in human-centric indoor environments, robots need to represent and understand the world in terms of objects and their attributes. We refer to this attribute-based representation as a world model, and consider how to…