相关论文: Autonomous Robot Navigation with Rich Information …
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…
We present a novel system, AdVENTR for autonomous robot navigation in unstructured outdoor environments that consist of uneven and vegetated terrains. Our approach is general and can enable both wheeled and legged robots to handle outdoor…
In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such environments with limited localization, communication range, and…
Robotic Exploration has evolved rapidly in the past two decades as new and more complex techniques have been created to explore unknown regions efficiently. Exciting advancements in exploration, autonomous navigation, and sensor technology…
Autonomous Unmanned Aerial Vehicles (UAVs) have become essential tools in defense, law enforcement, disaster response, and product delivery. These autonomous navigation systems require a wireless communication network, and of late are deep…
Autonomous terrain classification is an important problem in planetary navigation, whether the goal is to identify scientific sites of interest or to traverse treacherous areas safely. Past Martian rovers have relied on human operators to…
Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…
Development of navigation algorithms is essential for the successful deployment of robots in rapidly changing hazardous environments for which prior knowledge of configuration is often limited or unavailable. Use of traditional…
We introduce a new graph neural operator-based approach for task allocation in a system of heterogeneous robots composed of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or…
Unmanned Aerial Vehicles (UAVs) equipped with bioradars are a life-saving technology that can enable identification of survivors under collapsed buildings in the aftermath of natural disasters such as earthquakes or gas explosions. However,…
Autonomous navigation in the underwater environment is challenging due to limited visibility, dynamic changes, and the lack of a cost-efficient accurate localization system. We introduce UIVNav, a novel end-to-end underwater navigation…
Autonomous navigation in dynamic environment heavily depends on the environment and its topology. Prior knowledge of the environment is not usually accurate as the environment keeps evolving in time. Since robot is continuously evaluating…
Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path…
We present a robot navigation system that uses an imitation learning framework to successfully navigate in complex environments. Our framework takes a pre-built 3D scan of a real environment and trains an agent from pre-generated expert…
Significant advances in sensing, robotics, and wireless networks have enabled the collaborative utilization of autonomous aerial, ground and underwater vehicles for various applications. However, to successfully harness the benefits of…
At the heart of path-planning methods for autonomous robotic exploration is a heuristic which encourages exploring unknown regions of the environment. Such heuristics are typically computed using frontier-based or information-theoretic…
Unmanned Aerial Vehicles (UAVs) have become essential tools in inspection and emergency response operations due to their high maneuverability and ability to access hard-to-reach areas. However, their limited battery life significantly…
Off-road autonomous unmanned ground vehicles (UGVs) are being developed for military and commercial use to deliver crucial supplies in remote locations, help with mapping and surveillance, and to assist war-fighters in contested…
Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the…
Mobile robot autonomy has made significant advances in recent years, with navigation algorithms well developed and used commercially in certain well-defined environments, such as warehouses. The common link in usage scenarios is that the…