相关论文: Enabling Humans to Plan Inspection Paths Using a V…

This paper proposes a path planning algorithm for autonomous vehicles, evaluating collision severity with respect to both static and dynamic obstacles. A collision severity map is generated from ratings, quantifying the severity of…

Continual learning refers to the ability of humans and animals to incrementally learn over time in a given environment. Trying to simulate this learning process in machines is a challenging task, also due to the inherent difficulty in…

Robots need to understand their environment to perform their task. If it is possible to pre-program a visual scene analysis process in closed environments, robots operating in an open environment would benefit from the ability to learn it…

Generating a bird's eye view of road users is beneficial for a variety of applications, including navigation, detecting agent conflicts, and measuring space occupancy, as well as the ability to utilise the metric system to measure distances…

Path planning in unknown environments is a crucial yet inherently challenging capability for mobile robots, which primarily encompasses two coupled tasks: autonomous exploration and point-goal navigation. In both cases, the robot must…

Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…

With increasing levels of robot autonomy, robots are increasingly being supervised by users with varying levels of robotics expertise. As the diversity of the user population increases, it is important to understand how users with different…

Industrial robots are widely used in various manufacturing environments due to their efficiency in doing repetitive tasks such as assembly or welding. A common problem for these applications is to reach a destination without colliding with…

Planning the motion for humanoid robots is a computationally-complex task due to the high dimensionality of the system. Thus, a common approach is to first plan in the low-dimensional space induced by the robot's feet---a task referred to…

There is extensive literature on perceiving road structures by fusing various sensor inputs such as lidar point clouds and camera images using deep neural nets. Leveraging the latest advance of neural architects (such as transformers) and…

Path planning in obstacle-dense environments is a key challenge in robotics, and depends on inferring scene attributes and associated uncertainties. We present a multiple-hypothesis path planner designed to navigate complex environments…

Autonomous driving systems have witnessed a significant development during the past years thanks to the advance in machine learning-enabled sensing and decision-making algorithms. One critical challenge for their massive deployment in the…

Autonomous driving without high-definition (HD) maps demands a higher level of active scene understanding. In this competition, the organizers provided the multi-perspective camera images and standard-definition (SD) maps to explore the…

Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…

While classical autonomous navigation systems can typically move robots from one point to another safely and in a collision-free manner, these systems may fail or produce suboptimal behavior in certain scenarios. The current practice in…

This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…

This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…

Road damage is an inconvenience and a safety hazard, severely affecting vehicle condition, driving comfort, and traffic safety. The traditional manual visual road inspection process is pricey, dangerous, exhausting, and cumbersome. Also,…

We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. Our approach uses offline learning of human actions along with temporal coherence to…

We study the problem of planning paths for a team of robots for visually monitoring an environment. Our work is motivated by surveillance and persistent monitoring applications. We are given a set of target points in a polygonal environment…