相关论文: Simultaneous merging multiple grid maps using the …

The challenge of mapping indoor environments is addressed. Typical heuristic algorithms for solving the motion planning problem are frontier-based methods, that are especially effective when the environment is completely unknown. However,…

Sampling-based motion-planning algorithms typically rely on nearest-neighbor (NN) queries when constructing a roadmap. Recent results suggest that in various settings NN queries may be the computational bottleneck of such algorithms.…

In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…

Many robotics and mapping systems contain multiple sensors to perceive the environment. Extrinsic parameter calibration, the identification of the position and rotation transform between the frames of the different sensors, is critical to…

Environment modeling utilizing sensor data fusion and object tracking is crucial for safe automated driving. In recent years, the classical occupancy grid map approach, which assumes a static environment, has been extended to dynamic…

The fusion of independently obtained stochastic maps by collaborating mobile agents is considered. The proposed approach includes two parts: matching of stochastic maps and maximum likelihood alignment. In particular, an affine invariant…

Either RGB images or inertial signals have been used for the task of motion capture (mocap), but combining them together is a new and interesting topic. We believe that the combination is complementary and able to solve the inherent…

Modern autonomous vehicles and robots utilize versatile sensors for localization and mapping. The fidelity of these maps is paramount, as an accurate environmental representation is a prerequisite for stable and precise localization. Factor…

High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…

This paper presents an enhanced version of the Interactive Voting-Based Map Matching algorithm, designed to efficiently process trajectories with varying sampling rates. The main aim is to reconstruct GPS trajectories with high accuracy,…

Motion correction aims to prevent motion artefacts which may be caused by respiration, heartbeat, or head movements for example. In a preliminary step, the measured data is divided in gates corresponding to motion states, and displacement…

Constructing precise global maps is a key task in robotics and is required for localization, surveying, monitoring, or constructing digital twins. To build accurate maps, data from mobile 3D LiDAR sensors is often used. Mapping requires…

In-Motion physical coupling of multiple mobile ground robots has the potential to enable new applications like in-motion transfer that improves efficiency in handling and transferring goods, which tackles current challenges in logistics. A…

Generating wide-area digital surface models (DSMs) requires registering a large number of individual, and partially overlapped DSMs. This presents a challenging problem for a typical registration algorithm, since when a large number of…

Sampling-based motion planners are an effective means for generating collision-free motion paths. However, the quality of these motion paths (with respect to quality measures such as path length, clearance, smoothness or energy) is often…

With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…

Autonomous robots that assist humans in day to day living tasks are becoming increasingly popular. Autonomous mobile robots operate by sensing and perceiving their surrounding environment to make accurate driving decisions. A combination of…

Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors…

Robots often have to deal with the challenges of operating in dynamic and sometimes unpredictable environments. Although an occupancy map of the environment is sufficient for navigation of a mobile robot or manipulation tasks with a robotic…

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…