相关论文: Semantic Navigation Using Building Information on …

In this paper, we present a planning system based on semantic reasoning for a general-purpose service robot, which is aimed at behaving more intelligently in domains that contain incomplete information, under-specified goals, and dynamic…

In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…

Our brain has an inner global positioning system which enables us to sense and navigate 3D spaces in real time. Can mobile robots replicate such a biological feat in a dynamic environment? We introduce the first spatial reasoning framework…

An indoor robot navigation system is investigated, where an intelligent reflecting surface (IRS) is employed to enhance the connectivity between the access point (AP) and a mobile robotic user. The considered system is optimized for…

The inspection-planning problem calls for computing motions for a robot that allow it to inspect a set of points of interest (POIs) while considering plan quality (e.g., plan length). This problem has applications across many domains where…

Autonomous robots are increasingly playing key roles as support platforms for human operators in high-risk, dangerous applications. To accomplish challenging tasks, an efficient human-robot cooperation and understanding is required. While…

In reconfigurable intelligent surface (RIS) aided millimeter-wave (mmWave) communication systems, in order to overcome the limitation of the conventional channel state information (CSI) acquisition techniques, this paper proposes a location…

Sampling-based methods such as Rapidly-exploring Random Trees (RRTs) have been widely used for generating motion paths for autonomous mobile systems. In this work, we extend time-based RRTs with Control Barrier Functions (CBFs) to generate,…

The need for efficient monitoring of spatio-temporal dynamics in large environmental applications, such as the water quality monitoring in rivers and lakes, motivates the use of robotic sensors in order to achieve sufficient spatial…

Autonomous robots can benefit greatly from human-provided semantic characterizations of uncertain task environments and states. However, the development of integrated strategies which let robots model, communicate, and act on such 'soft…

This paper presents our experience on building RDF knowledge graphs for an industrial use case in the legal domain. The information contained in legal information systems are often accessed through simple keyword interfaces and presented as…

Building Information Modeling (BIM) produces three-dimensional models of buildings combining the geometrical information with a wide range of properties. BIM is slowly but inevitably revolutionizing the architecture, engineering, and…

For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…

In the present paper, we propose the model of {\it structural information learning machines} (SiLeM for short), leading to a mathematical definition of learning by merging the theories of computation and information. Our model shows that…

Binary Neural Networks (BNNs) have received significant attention due to their promising efficiency. Currently, most BNN studies directly adopt widely-used CNN architectures, which can be suboptimal for BNNs. This paper proposes a novel…

We present a method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future semantic information of real dynamic scenes. We present an auto-labeling process that creates SOGMs from noisy real…

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…

Knowing the position of the robot in the world is crucial for navigation. Nowadays, Bayesian filters, such as Kalman and particle-based, are standard approaches in mobile robotics. Recently, end-to-end learning has allowed for scaling-up to…

Navigating complex, densely packed environments like retail stores, warehouses, and hospitals poses a significant spatial grounding challenge for humans and embodied AI. In these spaces, dense visual features quickly become stale given the…

Building Information Modeling (BIM) describes a central data pool covering the entire life cycle of a construction project. Similarly, Building Energy Modeling (BEM) describes the process of using a 3D representation of a building as a…