相关论文: Pre-Trained Masked Image Model for Mobile Robot Na…

In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high…

Efficient navigation in dynamic environments requires anticipating how motion patterns evolve beyond the robot's immediate perceptual range, enabling preemptive rather than purely reactive planning in crowded scenes. Maps of Dynamics (MoDs)…

This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…

This paper describes a system whereby a robot detects and track human-meaningful navigational cues as it navigates in an indoor environment. It is intended as the sensor front-end for a mobile robot system that can communicate its…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

We have developed an algorithm to generate a complete map of the traversable region for a personal assistant robot using monocular vision only. Using multiple taken by a simple webcam, obstacle detection and avoidance algorithms have been…

Exploration in an unknown environment is the core functionality for mobile robots. Learning-based exploration methods, including convolutional neural networks, provide excellent strategies without human-designed logic for the feature…

We consider exploration tasks in which an autonomous mobile robot incrementally builds maps of initially unknown indoor environments. In such tasks, the robot makes a sequence of decisions on where to move next that, usually, are based on…

This project proposes a bioinspired multi-robot system using Distributed Optimization for efficient exploration and mapping of unknown environments. Each robot explores its environment and creates a map, which is afterwards put together to…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

This paper highlights the significance of including memory structures in neural networks when the latter are used to learn perception-action loops for autonomous robot navigation. Traditional navigation approaches rely on global maps of the…

Humans are remarkable in their ability to navigate without metric information. We can read abstract 2D maps, such as floor-plans or hand-drawn sketches, and use them to navigate in unseen rich 3D environments, without requiring prior…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

The advent of foundation models has revolutionized the fields of natural language processing and computer vision, paving the way for their application in autonomous driving (AD). This survey presents a comprehensive review of more than 40…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

Equipping active colloidal robots with intelligence such that they can efficiently navigate in unknown complex environments could dramatically impact their use in emerging applications like precision surgery and targeted drug delivery. Here…

Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…

Navigating through unstructured environments is a basic capability of intelligent creatures, and thus is of fundamental interest in the study and development of artificial intelligence. Long-range navigation is a complex cognitive task that…

We consider scenarios where a ground vehicle plans its path using data gathered by an aerial vehicle. In the aerial images, navigable areas of the scene may be occluded due to obstacles. Naively planning paths using aerial images may result…