相关论文: Lidar-based exploration and discretization for mob…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
A novel decentralised trajectory generation algorithm for Multi Agent systems is presented. Multi-robot systems have the capacity to transform lives in a variety of fields. But, trajectory generation for multi-robot systems is still in its…
Higher level functionality in autonomous driving depends strongly on a precise motion estimate of the vehicle. Powerful algorithms have been developed. However, their great majority focuses on either binocular imagery or pure LIDAR…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
Lidar is extensively used in the industry and mass-market. Due to its measurement accuracy and insensitivity to illumination compared to cameras, It is applied onto a broad range of applications, like geodetic engineering, self driving cars…
For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR-based terrain modeling approach, which could output stable, complete and accurate terrain models and…
In this paper, we developed the solution of roadside LiDAR object detection using a combination of two unsupervised learning algorithms. The 3D point clouds are firstly converted into spherical coordinates and filled into the…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
Reticular structures form the backbone of major infrastructure like bridges, pylons, and airports, but their inspection and maintenance are costly and hazardous, often requiring human intervention. While prior research has focused on fault…
Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping…
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…
We consider the problem of developing robots that navigate like pedestrians on sidewalks through city centers for performing various tasks including delivery and surveillance. One particular challenge for such robots is crossing streets…
Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…
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 present a new application of model checking which achieves real-time multi-step planning and obstacle avoidance on a real autonomous robot. We have developed a small, purpose-built model checking algorithm which generates plans in situ…
We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our proposed model, we show how to analytically compute the gradient…
Collision-free, goal-directed navigation in environments containing unknown static and dynamic obstacles is still a great challenge, especially when manual tuning of navigation policies or costly motion prediction needs to be avoided. In…
In this paper, we introduce a novel method for safe navigation in agricultural robotics. As global environmental challenges intensify, robotics offers a powerful solution to reduce chemical usage while meeting the increasing demands for…