相关论文: Mobile Robot Localisation and Navigation Using LEG…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
As the application scenarios of mobile robots are getting more complex and challenging, scene understanding becomes increasingly crucial. A mobile robot that is supposed to operate autonomously in indoor environments must have precise…
A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…
Global Navigation Satellite Systems typically perform poorly in urban environments, where the likelihood of line-of-sight conditions between devices and satellites is low. Therefore, alternative location methods are required to achieve good…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…
Robotics systems are complex, often consisted of basic services including SLAM for localization and mapping, Convolution Neural Networks for scene understanding, and Speech Recognition for user interaction, etc. Meanwhile, robots are mobile…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
Long-range indoor navigation requires guiding robots with noisy sensors and controls through cluttered environments along paths that span a variety of buildings. We achieve this with PRM-RL, a hierarchical robot navigation method in which…
In emergency search and rescue scenarios, the quick location of trapped people is essential. However, disasters can render the Global Positioning System (GPS) unusable. Unmanned aerial vehicles (UAVs) with localization devices can serve as…
Machine perception is an important prerequisite for safe interaction and locomotion in dynamic environments. This requires not only the timely perception of surrounding geometries and distances but also the ability to react to changing…
Environment mapping is an essential prerequisite for mobile robots to perform different tasks such as navigation and mission planning. With the availability of low-cost 2D LiDARs, there are increasing applications of such 2D LiDARs in…
We present UbiSLAM, an innovative solution for real-time mapping and localization in dynamic indoor environments. By deploying a network of fixed RGB-D cameras strategically throughout the workspace, UbiSLAM addresses limitations commonly…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
External localization is an essential part for the indoor operation of small or cost-efficient robots, as they are used, for example, in swarm robotics. We introduce a two-stage localization and instance identification framework for…
This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…