相关论文: Ring Exploration with Myopic Luminous Robots

To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…

We present a new algorithm for the problem of universal gathering mobile oblivious robots (that is, starting from any initial configuration that is not bivalent, using any number of robots, the robots reach in a finite number of steps the…

Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…

We study the problem of determining coordinated motions, of minimum total length, for two arbitrary convex centrally-symmetric (CCS) robots in an otherwise obstacle-free plane. Using the total path length traced by the two robot centres as…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

In vegetated environments, such as forests, exploratory robots play a vital role in navigating complex, cluttered environments where human access is limited and traditional equipment struggles. Visual occlusion from obstacles, such as…

Within the field of robotics, computer vision remains a significant barrier to progress, with many tasks hindered by inefficient vision systems. This research proposes a generalized vision module leveraging YOLOv9, a state-of-the-art…

Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…

The enormous energy demand of artificial intelligence is driving the development of alternative hardware for deep learning. Physical neural networks try to exploit physical systems to perform machine learning more efficiently. In…

Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…

We describe a robotic learning system for autonomous exploration and navigation in diverse, open-world environments. At the core of our method is a learned latent variable model of distances and actions, along with a non-parametric…

We consider a swarm of $n$ autonomous mobile robots, distributed on a 2-dimensional grid. A basic task for such a swarm is the gathering process: All robots have to gather at one (not predefined) place. A common local model for extremely…

Collaborative multiple robots for unknown environment exploration have become mainstream due to their remarkable performance and efficiency. However, most existing methods assume perfect robots' communication during exploration, which is…

Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage efficiency, but often overlook that visual-inertial odometry…

This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…

This paper studies the gathering problem for a set of $N \ge 2$ autonomous mobile robots operating in the Euclidean plane under the distributed Look-Compute-Move model. We consider oblivious robots executing under the adversarial defected…

Safe autonomous exploration of unknown environments is an essential skill for mobile robots to effectively and adaptively perform environmental mapping for diverse critical tasks. Due to its simplicity, most existing exploration methods…

The Orthogonal Watchman Route Problem (OWRP) entails the search for the shortest path, known as the watchman route, that a robot must follow within a polygonal environment. The primary objective is to ensure that every point in the…

We address the challenge of exploration in reinforcement learning (RL) when the agent operates in an unknown environment with sparse or no rewards. In this work, we study the maximum entropy exploration problem of two different types. The…

The double coverage problem focuses on determining efficient, collision-free routes for multiple robots to simultaneously cover linear features (e.g., surface cracks or road routes) and survey areas (e.g., parking lots or local regions) in…