相关论文: Adaptive Acoustic Flow-Based Navigation with 3D So…

Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Usually, inertial sensors and Doppler velocity log readings are used in a nonlinear filter to estimate the AUV navigation solution. The process noise…

Leading autonomous vehicle (AV) platforms and testing infrastructures are, unfortunately, proprietary and closed-source. Thus, it is difficult to evaluate how well safety-critical AVs perform and how safe they truly are. Similarly, few…

Side-scan sonar (SSS) is a lightweight acoustic sensor that is frequently deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, using side-scan images to perform simultaneous localization and…

Spatial sampling is traditionally studied in a static setting where static sensors scattered around space take measurements of the spatial field at their locations. In this paper we study the emerging paradigm of sampling and reconstructing…

Many aquatic organisms are able to track ambient flow disturbances and locate their source. These tasks are particularly challenging because they require the organism to sense local flow information and respond accordingly. Details of how…

Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…

The plethora of sensors in our commodity devices provides a rich substrate for sensor-fused tracking. Yet, today's solutions are unable to deliver robust and high tracking accuracies across multiple agents in practical, everyday…

Recently, learning-based approaches show promising results in navigation tasks. However, the poor generalization capability and the simulation-reality gap prevent a wide range of applications. We consider the problem of improving the…

Achieving fully autonomous exploration and navigation remains a critical challenge in robotics, requiring integrated solutions for localisation, mapping, decision-making and motion planning. Existing approaches either rely on strict…

Fully autonomous driving systems require fast detection and recognition of sensitive objects in the environment. In this context, intelligent vehicles should share their sensor data with computing platforms and/or other vehicles, to detect…

In recent years, the numbers of life-size humanoids as well as their mobile capabilities have steadily grown. Stable walking motion and control for humanoid robots are active fields of research. In this scenario an open question is how to…

Recent advances in autonomous driving have underscored the importance of accurate 3D object detection, with LiDAR playing a central role due to its robustness under diverse visibility conditions. However, different vehicle platforms often…

Accurate localization is essential for the safe and effective navigation of autonomous vehicles, and Simultaneous Localization and Mapping (SLAM) is a cornerstone technology in this context. However, The performance of the SLAM system can…

The growing demand for robust scene understanding in mobile robotics and autonomous driving has highlighted the importance of integrating multiple sensing modalities. By combining data from diverse sensors like cameras and LIDARs, fusion…

In this paper, we focus on the modification of policies that can lead to movement patterns and directional guidance of occupants, which are represented as agents in a 3D simulation engine. We demonstrate an optimization method that improves…

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…

This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater…

We present a communication-free method for safe multi-robot coordination in complex environments such as forests with dense canopy cover, where GNSS is unavailable. Our approach relies on an onboard anisotropic 3D LiDAR sensor used for SLAM…

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…

Robust navigation in diverse environments and domains requires both accurate state estimation and transparent decision making. We present PhysNav-DG, a novel framework that integrates classical sensor fusion with the semantic power of…