相关论文: Humans as Path-Finders for Safe Navigation
In this work, our goal is to extend the existing search and rescue paradigm by allowing teams of autonomous unmanned aerial vehicles (UAVs) to collaborate effectively with human searchers on the ground. We derive a framework that includes a…
We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on…
The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…
To date, the majority of positioning systems have been designed to operate within environments that have long-term stable macro-structure with potential small-scale dynamics. These assumptions allow the existing positioning systems to…
Robot person following (RPF) -- mobile robots that follow and assist a specific person -- has emerging applications in personal assistance, security patrols, eldercare, and logistics. To be effective, such robots must follow the target…
Navigation is a must-have skill for any mobile robot. A core challenge in navigation is the need to account for an ample number of possible configurations of environment and navigation contexts. We claim that a mobile robot should be able…
This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is either unaware of the robot's presence or unwilling to engage…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
To operate safely and efficiently, autonomous warehouse/delivery robots must be able to accomplish tasks while navigating in dynamic environments and handling the large uncertainties associated with the motions/behaviors of other robots…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
Navigation is one of the most widely used applications of the Location Based Services (LBS) which have become part of our digitally informed daily lives. Navigation services, however, have generally been designed for drivers rather than…
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…
The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…
Predictive planning is a key capability for robots to efficiently and safely navigate populated environments. Particularly in densely crowded scenes, with uncertain human motion predictions, predictive path planning, and control can become…
Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem.…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…
Multiple levels of safety measures are required by multiple interaction modes which collaborative robots need to perform industrial tasks with human co-workers. We develop three independent modules to account for safety in different types…
For a humanoid robot to make eye contact and initiate communication with a person, it is necessary to estimate the person's head position. However, eye contact becomes difficult due to the mechanical delay of the robot when the person is…
In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…
We discuss the process of building semantic maps, how to interactively label entities in them, and how to use them to enable context-aware navigation behaviors in human environments. We utilize planar surfaces, such as walls and tables, and…