相关论文: ArtPlanner: Robust Legged Robot Navigation in the …

Flippers are essential components of tracked robot locomotion systems for unstructured terrain, especially within a rescue scenario. Achieving full and semi-autonomy for such rescue robots is the goal of many research efforts. In this work,…

Neural networks have shown great promises in planning, control, and general decision making for learning-enabled cyber-physical systems (LE-CPSs), especially in improving performance under complex scenarios. However, it is very challenging…

We consider the problem of indoor building-scale social navigation, where the robot must reach a point goal as quickly as possible without colliding with humans who are freely moving around. Factors such as varying crowd densities,…

Exploration in dynamic and uncertain real-world environments is an open problem in robotics and constitutes a foundational capability of autonomous systems operating in most of the real world. While 3D exploration planning has been…

We present a novel method enabling robots to quickly learn to manipulate objects by leveraging a motion planner to generate "expert" training trajectories from a small amount of human-labeled data. In contrast to the traditional…

Legged robots have the potential to traverse complex terrain and access confined spaces beyond the reach of traditional platforms thanks to their ability to carefully select footholds and flexibly adapt their body posture while walking.…

In the rapidly evolving landscape of autonomous mobile robots, the emphasis on seamless human-robot interactions has shifted towards autonomous decision-making. This paper delves into the intricate challenges associated with robotic…

Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…

Quadruped platforms have become an active topic of research due to their high mobility and traversability in rough terrain. However, it is highly challenging to determine whether the clattered environment could be passed by the robot and…

In this paper, we study a long-term planning scenario that is based on drone racing competitions held in real life. We conducted this experiment on a framework created for "Game of Drones: Drone Racing Competition" at NeurIPS 2019. The…

Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…

The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…

Today, robotics is an auspicious and fast-growing branch of technology that involves the manufacturing, design, and maintenance of robot machines that can operate in an autonomous fashion and can be used in a wide variety of applications…

Animals have evolved various agile locomotion strategies, such as sprinting, leaping, and jumping. There is a growing interest in developing legged robots that move like their biological counterparts and show various agile skills to…

Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its…

A fundamental challenge in robot navigation lies in learning policies that generalize across diverse environments while conforming to the unique physical constraints and capabilities of a specific embodiment (e.g., quadrupeds can walk up…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

Using underwater robots instead of humans for the inspection of coastal piers can enhance efficiency while reducing risks. A key challenge in performing these tasks lies in achieving efficient and rapid path planning within complex…

We present a footstep planning policy for quadrupedal locomotion that is able to directly take into consideration a-priori safety information in its decisions. At its core, a learning process analyzes terrain patches, classifying each…

The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum,…