相关论文: Group Surfing: A Pedestrian-Based Approach to Side…
Mobile robots are being used on a large scale in various crowded situations and become part of our society. The socially acceptable navigation behavior of a mobile robot with individual human consideration is an essential requirement for…
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…
Shared space reduces segregation between vehicles and pedestrians and encourages them to share roads without imposed traffic rules. The behaviour of road users (RUs) is then controlled by social norms, and interactions are more versatile…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
We present the pedestrian patterns dataset for autonomous driving. The dataset was collected by repeatedly traversing the same three routes for one week starting at different specific timeslots. The purpose of the dataset is to capture the…
With the increasing presence of service robots and autonomous vehicles in human environments, navigation systems need to evolve beyond simple destination reach to incorporate social awareness. This paper introduces GSON, a novel group-based…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
One of the most crucial yet challenging tasks for autonomous vehicles in urban environments is predicting the future behaviour of nearby pedestrians, especially at points of crossing. Predicting behaviour depends on many social and…
Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…
The exponentially increasing advances in robotics and machine learning are facilitating the transition of robots from being confined to controlled industrial spaces to performing novel everyday tasks in domestic and urban environments. In…
In this paper, we present a number of robust methodologies for an underwater robot to visually detect, follow, and interact with a diver for collaborative task execution. We design and develop two autonomous diver-following algorithms, the…
Following a specific user is a desired or even required capability for service robots in many human-robot collaborative applications. However, most existing person-following robots follow people without knowledge of who it is following. In…
Recent protocols and metrics for training and evaluating autonomous robot navigation through crowds are inconsistent due to diversified definitions of "social behavior". This makes it difficult, if not impossible, to effectively compare…
In this work we establish a simple yet effective strategy, based on optimal transport theory, for enabling a group of robots to accomplish complex tasks, such as shape formation and assembly. We demonstrate the feasibility of this approach…
Navigating in crowded environments requires the robot to be equipped with high-level reasoning and planning techniques. Existing works focus on developing complex and heavyweight planners while ignoring the role of human intelligence. Since…
Navigating in human-filled public spaces is a critical challenge for deploying autonomous robots in real-world environments. This paper introduces NaviDIFF, a novel Hamiltonian-constrained socially-aware navigation framework designed to…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…
Mobile robots are increasingly being deployed in public spaces such as shopping malls, airports, and urban sidewalks. Most of these robots are designed with human-aware motion planning capabilities but are not designed to communicate with…
There is a lack of data on the location, condition, and accessibility of sidewalks across the world, which not only impacts where and how people travel but also fundamentally limits interactive mapping tools and urban analytics. In this…