相关论文: Using multiple sensors for autonomous mobile robot…

This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…

Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…

Navigation is an essential capability for mobile robots. In this paper, we propose a generalized yet effective 3M (i.e., multi-robot, multi-scenario, and multi-stage) training framework. We optimize a mapless navigation policy with a robust…

This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…

We propose a framework that allows a mobile robot to build a map of an indoor scenario, identifying and highlighting objects that may be considered a hindrance to people with limited mobility. The map is built by combining recent…

Mobile smartphones compactly provide sensors such as cameras, IMUs, GNSS measurement units, and wireless and wired communication channels required for robotics projects. They are affordable, portable, and programmable, which makes them…

Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…

Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…

This paper proposes a method for tight fusion of visual, depth and inertial data in order to extend robotic capabilities for navigation in GPS-denied, poorly illuminated, and texture-less environments. Visual and depth information are fused…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

In recent years, the numbers of life-size humanoids as well as their mobile capabilities have steadily grown. Stable walking motion and control for humanoid robots are active fields of research. In this scenario an open question is how to…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

Optical sensors can capture dynamic environments and derive depth information in near real-time. The quality of these digital reconstructions is determined by factors like illumination, surface and texture conditions, sensing speed and…

Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…

Machine perception is an important prerequisite for safe interaction and locomotion in dynamic environments. This requires not only the timely perception of surrounding geometries and distances but also the ability to react to changing…

This paper addresses the problem of building augmented metric representations of scenes with semantic information from RGB-D images. We propose a complete framework to create an enhanced map representation of the environment with…

Navigation in an unknown environment consists of multiple separable subtasks, such as collecting information about the surroundings and navigating to the current goal. In the case of pure visual navigation, all these subtasks need to…

When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…

The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges related to the fusion of multi-modal sensor data, the…

Multi-modal fusion is a fundamental task for the perception of an autonomous driving system, which has recently intrigued many researchers. However, achieving a rather good performance is not an easy task due to the noisy raw data,…