相关论文: MLNav: Learning to Safely Navigate on Martian Terr…

We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…

Autonomous navigation in unstructured environments requires robots to assess terrain difficulty in real-time and plan paths that balance efficiency with safety. This thesis presents a traversability-aware navigation framework for the M4…

This study presents a new methodology for learning-based motion planning for autonomous exploration using aerial robots. Through the reinforcement learning method of learning through trial and error, the action policy is derived that can…

Visual navigation is a core capability for mobile robots, yet end-to-end learning-based methods often struggle with generalization and safety in unseen, cluttered, or narrow environments. These limitations are especially pronounced in dense…

Multi-Agent Path Finding (MAPF) is a critical component of logistics and warehouse management, which focuses on planning collision-free paths for a team of robots in a known environment. Recent work introduced a novel MAPF approach, LNS2,…

Visual Language Navigation (VLN) is one of the fundamental capabilities for embodied intelligence and a critical challenge that urgently needs to be addressed. However, existing methods are still unsatisfactory in terms of both success rate…

Robot navigation is a crucial task with applications to social robots in dynamic human environments. While Reinforcement Learning (RL) has shown great promise for this problem, the policy quality is highly sensitive to the specification of…

We present a path planning framework that takes into account the human's safety perception in the presence of a flying robot. The framework addresses two objectives: (i) estimation of the uncertain parameters of the proposed safety…

The process of designing costmaps for off-road driving tasks is often a challenging and engineering-intensive task. Recent work in costmap design for off-road driving focuses on training deep neural networks to predict costmaps from sensory…

We present a robust multi-modal framework for predicting traversability costmaps for planetary rovers. Our model fuses camera and LiDAR data to produce a bird's-eye-view (BEV) terrain costmap, trained self-supervised using IMU-derived…

We present a micro aerial vehicle (MAV) system, built with inexpensive off-the-shelf hardware, for autonomously following trails in unstructured, outdoor environments such as forests. The system introduces a deep neural network (DNN) called…

Planetary rover systems need to perform terrain segmentation to identify drivable areas as well as identify specific types of soil for sample collection. The latest Martian terrain segmentation methods rely on supervised learning which is…

Legged navigation is typically examined within open-world, off-road, and challenging environments. In these scenarios, estimating external disturbances requires a complex synthesis of multi-modal information. This underlines a major…

Planetary rover exploration is attracting renewed interest with several upcoming space missions to the Moon and Mars. However, a substantial amount of data from prior missions remain underutilized for path planning and autonomous navigation…

Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…

Recently, mobile robots have become important tools in various industries, especially in logistics. Deep reinforcement learning emerged as an alternative planning method to replace overly conservative approaches and promises more efficient…

In autonomous navigation, trajectory replanning, refinement, and control command generation are essential for effective motion planning. This paper presents a resilient approach to trajectory replanning addressing scenarios where the…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…

Planetary exploration robots must navigate uneven terrain while building reliable maps for space missions. However, most existing methods incorporate traversability constraints but may not handle high uncertainty in elevation estimates near…