相关论文: Multi-Mobile Robot Localization and Navigation bas…
Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…
A method of information transmission using visual markers has been widely studied. In this approach, information or identifiers (IDs) are encoded in the black-and-white pattern of each marker. By analyzing the geometric properties of the…
This paper presents the use of multi-sensor measurement system to guide autonomous mobile robot in the house. The system allows the 3D image acquisition to global mapping, and algorithms to reduce the dimensionality of images to 2D global…
This paper presents DLL, a fast direct map-based localization technique using 3D LIDAR for its application to aerial robots. DLL implements a point cloud to map registration based on non-linear optimization of the distance of the points and…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…
Although Multimodal Large Language Models (MLLMs) excel at various image-related tasks, they encounter challenges in precisely aligning coordinates with spatial information within images, particularly in position-aware tasks such as visual…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
Automotive self-localization is an essential task for any automated driving function. This means that the vehicle has to reliably know its position and orientation with an accuracy of a few centimeters and degrees, respectively. This paper…
We have developed an algorithm to generate a complete map of the traversable region for a personal assistant robot using monocular vision only. Using multiple taken by a simple webcam, obstacle detection and avoidance algorithms have been…
Next Location Prediction is a fundamental task in the study of human mobility, with wide-ranging applications in transportation planning, urban governance, and epidemic forecasting. In practice, when humans attempt to predict the next…
Legged robot navigation in extreme environments can hinder the use of cameras and laser scanners due to darkness, air obfuscation or sensor damage. In these conditions, proprioceptive sensing will continue to work reliably. In this paper,…
This work presents an investigation on the scalability of a deep leaning (DL)-based blind transmitter positioning system for addressing the multi transmitter localization (MLT) problem. The proposed approach is able to estimate relative…
Navigational signs are common aids for human wayfinding and scene understanding, but are underutilized by robots. We argue that they benefit robot navigation and scene understanding, by directly encoding privileged information on actions,…
Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a…
In this paper, we develop a \textcolor{black}{\emph{distributed}} algorithm to localize a network of robots moving arbitrarily in a bounded region. In the case of such mobile networks, the main challenge is that the robots may not be able…
This paper presents the design and implementation of a perceptual system for the mobile robot using modern sensors and multi-point communication channels. The data extracted from the perceptual system is processed by a sensor fusion model…
Task and motion planning (TAMP) algorithms aim to help robots achieve task-level goals, while maintaining motion-level feasibility. This paper focuses on TAMP domains that involve robot behaviors that take extended periods of time (e.g.,…
In this paper, we introduce a set-theoretic approach for mobile robot localization with infrastructure-based sensing. The proposed method computes sets that over-bound the robot body and orientation under an assumption of known noise bounds…
We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which…