相关论文: Autonomous Passage Planning for a Polar Vessel
The DEBS Grand Challenge 2018 is set in the context of maritime route prediction. Vessel routes are modeled as streams of Automatic Identification System (AIS) data points selected from real-world tracking data. The challenge requires to…
Autonomous vehicles such as the Mars rovers currently lead the vanguard of surface exploration on extraterrestrial planets and moons. In order to accelerate the pace of exploration and science objectives, it is critical to plan safe and…
Autonomous navigation in unfamiliar environments requires robots to simultaneously explore, localise, and plan under uncertainty, without relying on predefined maps or extensive training. We present Active Inference MAPping and Planning…
Ships, or vessels, often sail in and out of cluttered environments over the course of their trajectories. Safe navigation in such cluttered scenarios requires an accurate estimation of the intent of neighboring vessels and their effect on…
As the importance of eco-friendly transportation increases, providing an efficient approach for marine vessel operation is essential. Methods for status monitoring with consideration to the weather condition and forecasting with the use of…
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve across space and time, and ensuring persistent operation…
One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data…
This paper presents a novel data-driven approach to vehicle motion planning and control in off-road driving scenarios. For autonomous off-road driving, environmental conditions impact terrain traversability as a function of weather, surface…
For autonomous quadruped robot navigation in various complex environments, a typical SOTA system is composed of four main modules -- mapper, global planner, local planner, and command-tracking controller -- in a hierarchical manner. In this…
We investigate the scenario that a robot needs to reach a designated goal after taking a sequence of appropriate actions in a non-static environment that is partially structured. One application example is to control a marine vehicle to…
Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…
Autonomous vehicle navigation in unstructured environments, such as forests and mountainous regions, presents significant challenges due to irregular terrain and complex road conditions. This work provides a comparative evaluation of…
Autonomous modeling of artificial swarms is necessary because manual creation is a time intensive and complicated procedure which makes it impractical. An autonomous approach employing deep reinforcement learning is presented in this study…
Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures,…
We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…
As terrestrial resources become increasingly depleted, the demand for deep-sea resource exploration has intensified. However, the extreme conditions in the deep-sea environment pose significant challenges for underwater operations,…
Within the next several years, there will be a high level of autonomous technology that will be available for widespread use, which will reduce labor costs, increase safety, save energy, enable difficult unmanned tasks in harsh…
Autonomous navigation capabilities play a critical role in service robots operating in environments where human interactions are pivotal, due to the dynamic and unpredictable nature of these environments. However, the variability in human…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…