相关论文: Learned Tree Search for Long-Horizon Social Robot …
To work in unknown outdoor environments, autonomous sampling machines need the ability to target samples despite limited visibility and robotic arm reach distance. We design a heuristic guided search method to speed up the search process…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…
Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory…
Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…
Autonomous Science is a field of study which aims to extend the autonomy of exploration robots from low level functionality, such as on-board perception and obstacle avoidance, to science autonomy, which allows scientists to specify…
We consider task and motion planning in complex dynamic environments for problems expressed in terms of a set of Linear Temporal Logic (LTL) constraints, and a reward function. We propose a methodology based on reinforcement learning that…
We present a context classification pipeline to allow a robot to change its navigation strategy based on the observed social scenario. Socially-Aware Navigation considers social behavior in order to improve navigation around people. Most of…
Over the past decade, a multitude of service robots have been developed to fulfill a wide range of practical purposes. Notably, roles such as reception and robotic guidance have garnered extensive popularity. In these positions, robots are…
For real-world navigation, it is important to endow robots with the capabilities to navigate safely and efficiently in a complex environment with both dynamic and non-convex static obstacles. However, achieving path-finding in non-convex…
Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…
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…
Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…
Path planning is a crucial algorithmic approach for designing robot behaviors. Sampling-based approaches, like rapidly exploring random trees (RRTs) or probabilistic roadmaps, are prominent algorithmic solutions for path planning problems.…
Social robot navigation is an evolving research field that aims to find efficient strategies to safely navigate dynamic environments populated by humans. A critical challenge in this domain is the accurate modeling of human motion, which…
Reinforcement learning (RL) methods for social robot navigation show great success navigating robots through large crowds of people, but the performance of these learning-based methods tends to degrade in particularly challenging or…
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,…
Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…
Our CoBot robots have successfully performed a variety of service tasks in our multi-building environment including accompanying people to meetings and delivering objects to offices due to its navigation and localization capabilities.…