相关论文: The Marathon 2: A Navigation System
Despite the increasing prevalence of robots in daily life, their navigation capabilities are still limited to environments with prior knowledge, such as a global map. To fully unlock the potential of robots, it is crucial to enable them to…
We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
The role of robots in society keeps expanding, bringing with it the necessity of interacting and communicating with humans. In order to keep such interaction intuitive, we provide automatic wayfinding based on verbal navigational…
With the development of science and technology, mobile robots are playing a significant important role in the new round of world revolution. Further, mobile robots might assist or replace human beings in a great number of areas. To increase…
For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…
This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with arbitrary polygonal obstacles. The properties of the conformal navigation…
We used ROS2 as a platform to conduct AI research for developing a Follow-Me capability as a proof-of-concept on a wheeled robot, demonstrating that AI research is possible in the ROS2 framework. We developed a complete system that uses…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
We present SocialGym 2, a multi-agent navigation simulator for social robot research. Our simulator models multiple autonomous agents, replicating real-world dynamics in complex environments, including doorways, hallways, intersections, and…
This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…
Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility…
This paper introduces a novel trajectory planner for autonomous robots, specifically designed to enhance navigation by incorporating dynamic obstacle avoidance within the Robot Operating System 2 (ROS2) and Navigation 2 (Nav2) framework.…
Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…
Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…
The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…
Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten…
We aim to enable a mobile robot to navigate through environments with dense crowds, e.g., shopping malls, canteens, train stations, or airport terminals. In these challenging environments, existing approaches suffer from two common…
The European Space Agency (ESA) and the European Space Resources Innovation Centre (ESRIC) created the Space Resources Challenge to invite researchers and companies to propose innovative solutions for Multi-Robot Systems (MRS) space…
This paper introduces the ROS2 control and the Hardware Interface (HW) integration for the Fanuc CRX- robot family. It explains basic implementation details and communication protocols, and its integration with the Moveit2 motion planning…