相关论文: BADGR: An Autonomous Self-Supervised Learning-Base…

The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…

This paper describes a framework for the object-goal navigation task, which requires a robot to find and move to the closest instance of a target object class from a random starting position. The framework uses a history of robot…

We present a novel learning-based trajectory generation algorithm for outdoor robot navigation. Our goal is to compute collision-free paths that also satisfy the environment-specific traversability constraints. Our approach is designed for…

How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…

Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and…

Existing autonomous robot navigation systems allow robots to move from one point to another in a collision-free manner. However, when facing new environments, these systems generally require re-tuning by expert roboticists with a good…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…

Collision-free motion is essential for mobile robots. Most approaches to collision-free and efficient navigation with wheeled robots require parameter tuning by experts to obtain good navigation behavior. This study investigates the…

We address the problem of autonomous exploration and mapping for a mobile robot using visual inputs. Exploration and mapping is a well-known and key problem in robotics, the goal of which is to enable a robot to explore a new environment…

This paper considers the problem of autonomous mobile robot navigation in unknown environments with moving obstacles. We propose a new method to achieve environment-aware safe tracking (EAST) of robot motion plans that integrates an…

This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-specific controller is first trained in an empty environment.…

In this paper, we propose a novel architecture and a self-supervised policy gradient algorithm, which employs unsupervised auxiliary tasks to enable a mobile robot to learn how to navigate to a given goal. The dependency on the global…

The advancement of robotics and autonomous navigation systems hinges on the ability to accurately predict terrain traversability. Traditional methods for generating datasets to train these prediction models often involve putting robots into…

Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…

Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…

Robots need to be able to work in multiple different environments. Even when performing similar tasks, different behaviour should be deployed to best fit the current environment. In this paper, We propose a new approach to navigation, where…

Soft growing robots, are a type of robots that are designed to move and adapt to their environment in a similar way to how plants grow and move with potential applications where they could be used to navigate through tight spaces, dangerous…