相关论文: Smart Navigation for In-pipe Robots with Multi-pha…

Navigating efficiently across vortical flow fields presents a significant challenge in various robotic applications. The dynamic and unsteady nature of vortical flows often disturbs the control of underwater robots, complicating their…

With the fast and unstoppable evolution of robotics and artificial intelligence, effective autonomous navigation in real-world scenarios has become one of the most pressing challenges in the literature. However, demanding requirements, such…

This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of $\mathbb{R}^n$. Initially, we provide a novel class of robust feedback controllers that…

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…

Creating a vision pipeline for different datasets to solve a computer vision task is a complex and time consuming process. Currently, these pipelines are developed with the help of domain experts. Moreover, there is no systematic structure…

The recent advance in autonomous underwater robotics facilitates autonomous inspection tasks of offshore infrastructure. However, current inspection missions rely on predefined plans created offline, hampering the flexibility and autonomy…

Recent results suggest that splitting topological navigation into robot-independent and robot-specific components improves navigation performance by enabling the robot-independent part to be trained with data collected by robots of…

Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…

A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning.…

There are few industries which use manually controlled robots for carrying material and this cannot be used all the time in all the places. So, it is very tranquil to have robots which can follow a specific human by following the unique…

Coordinated multi-robot navigation is essential for robots to operate as a team in diverse environments. During navigation, robot teams usually need to maintain specific formations, such as circular formations to protect human teammates at…

This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight…

With the growing emphasis on the development and integration of service robots within household environments, we will need to endow robots with the ability to reliably pour a variety of liquids. However, liquid handling and pouring is a…

The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…

Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capabilities of the quadruped robot are anisotropic along…

Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…

Robotic navigation in unknown, cluttered environments with limited sensing capabilities poses significant challenges in robotics. Local trajectory optimization methods, such as Model Predictive Path Intergal (MPPI), are a promising solution…

We present a novel particle filtering framework for continuous-time dynamical systems with continuous-time measurements. Our approach is based on the duality between estimation and optimal control, which allows reformulating the estimation…

This paper presents a provably correct method for robot navigation in 2D environments cluttered with familiar but unexpected non-convex, star-shaped obstacles as well as completely unknown, convex obstacles. We presuppose a limited range…

This presentation will introduce the audience to a new, emerging body of research on sequential Monte Carlo techniques in robotics. In recent years, particle filters have solved several hard perceptual robotic problems. Early successes were…