相关论文: Active Exploration and Mapping via Iterative Covar…
This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…
Tracking multiple moving objects of interest (OOI) with multiple robot systems (MRS) has been addressed by active sensing that maintains a shared belief of OOIs and plans the motion of robots to maximize the information quality. Mobility of…
In this article, we propose a sampling-based motion planning algorithm equipped with an information-theoretic convergence criterion for incremental informative motion planning. The proposed approach allows dense map representations and…
Autonomous exploration is a crucial aspect of robotics, enabling robots to explore unknown environments and generate maps without prior knowledge. This paper proposes a method to enhance exploration efficiency by integrating neural…
We consider an autonomous exploration problem in which a range-sensing mobile robot is tasked with accurately mapping the landmarks in an a priori unknown environment efficiently in real-time; it must choose sensing actions that both curb…
Active robot exploration requires decision-making processes that integrate localization and mapping under tightly coupled uncertainty. However, managing these interdependent uncertainties over long-term operations in large-scale…
Autonomous flight in GPS-denied indoor spaces requires trajectories that keep visual-localization error tightly bounded across varied missions. Map-based visual localization methods such as feature matching require computationally intensive…
A new 3D localization and mapping techinque with terrain inclination assistance is proposed in this paper to allow a robot to identify its location and build a global map in an outdoor environment. The Iterative Closest Points (ICP)…
This paper presents an automated method for creating spatial maps of soil condition with an outdoor mobile robot. Effective soil mapping on farms can enhance yields, reduce inputs and help protect the environment. Traditionally, data are…
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…
Trajectory planning in robotics aims to generate collision-free pose sequences that can be reliably executed. Recently, vision-to-planning systems have gained increasing attention for their efficiency and ability to interpret and adapt to…
Manipulation in confined and cluttered environments remains a significant challenge due to partial observability and complex configuration spaces. Effective manipulation in such environments requires an intelligent exploration strategy to…
This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framework for navigation in unknown and partially-observable…
Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined spaces while assisting a human operator in physically…
Despite recent progress of robotic exploration, most methods assume that drift-free localization is available, which is problematic in reality and causes severe distortion of the reconstructed map. In this work, we present a systematic…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…
Autonomous exploration in dynamic environments necessitates a planner that can proactively respond to changes and make efficient and safe decisions for robots. Although plenty of sampling-based works have shown success in exploring static…
This paper investigates a movable antenna (MA) enabled integrated sensing and communication (ISAC) system under the influence of antenna crosstalk. First, it generalizes the antenna crosstalk model from the conventional fixed-position…
We propose a novel method to enhance the accuracy of the Iterative Closest Point (ICP) algorithm by integrating altitude constraints from a barometric pressure sensor. While ICP is widely used in mobile robotics for Simultaneous…
In this paper, we propose a method that, given a partial grid map of an indoor environment built by an autonomous mobile robot, estimates the amount of the explored area represented in the map, as well as whether the uncovered part is still…