相关论文: BADGR: An Autonomous Self-Supervised Learning-Base…
It is important for robots to be able to decide whether they can go through a space or not, as they navigate through a dynamic environment. This capability can help them avoid injury or serious damage, e.g., as a result of running into…
We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…
In unknown cluttered and dynamic environments such as disaster scenes, mobile robots need to perform target-driven navigation in order to find people or objects of interest, while being solely guided by images of the targets. In this paper,…
We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…
Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while accounting for the varying energy costs of traversing…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform. Ideally, the robot should be able to identify areas that…
Ground robots require the crucial capability of traversing unstructured and unprepared terrains and avoiding obstacles to complete tasks in real-world robotics applications such as disaster response. When a robot operates in off-road field…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…
Mobile robots operating in human-centered environments must generate not only collision-free paths but also trajectories that follow local behavioral conventions. Conventional costmap-based navigation emphasizes geometric feasibility and…
Mobile robots should be capable of planning cost-efficient paths for autonomous navigation. Typically, the terrain and robot properties are subject to variations. For instance, properties of the terrain such as friction may vary across…
Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, the expected robot behaviors generated by terrain adaptation…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
To achieve autonomy in unknown and unstructured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is crucial for safe and efficient robot navigation in environment with…
Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classical two-dimensional planning approaches cannot be used.…
This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…
Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and…
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…