相关论文: SwipeBot: DNN-based Autonomous Robot Navigation am…

Robots and self-driving vehicles face a number of challenges when navigating through real environments. Successful navigation in dynamic environments requires prioritizing subtasks and monitoring resources. Animals are under similar…

Safe navigation in cluttered environments is an important challenge for autonomous systems. Robots navigating through obstacle ridden scenarios need to be able to navigate safely in the presence of obstacles, goals, and ego objects of…

This paper focuses on real-time occupancy mapping and collision checking onboard an autonomous robot navigating in an unknown environment. We propose a new map representation, in which occupied and free space are separated by the decision…

Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain…

We train embodied neural networks to plan and navigate unseen complex 3D environments, emphasising real-world deployment. Rather than requiring prior knowledge of the agent or environment, the planner learns to model the state transitions…

Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…

When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…

Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…

This work presents an approach to learn path planning for robot social navigation by demonstration. We make use of Fully Convolutional Neural Networks (FCNs) to learn from expert's path demonstrations a map that marks a feasible path to the…

Teaching autonomous mobile robots to successfully navigate human crowds is a challenging task. Not only does it require planning, but it requires maintaining social norms which may differ from one context to another. Here we focus on crowd…

We present a novel algorithm (DeepMNavigate) for global multi-agent navigation in dense scenarios using deep reinforcement learning (DRL). Our approach uses local and global information for each robot from motion information maps. We use a…

With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…

Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can…

Building structures can allow a robot to surmount large obstacles, expanding the set of areas it can reach. This paper presents a planning algorithm to automatically determine what structures a construction-capable robot must build in order…

Collision-free, goal-directed navigation in environments containing unknown static and dynamic obstacles is still a great challenge, especially when manual tuning of navigation policies or costly motion prediction needs to be avoided. In…

Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…

Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…

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…

We present a semantically rich graph representation for indoor robotic navigation. Our graph representation encodes: semantic locations such as offices or corridors as nodes, and navigational behaviors such as enter office or cross a…

The challenges to solving the collision avoidance problem lie in adaptively choosing optimal robot velocities in complex scenarios full of interactive obstacles. In this paper, we propose a distributed approach for multi-robot navigation…