相关论文: FHT-Map: Feature-based Hierarchical Topological Ma…
Tethered robots play a pivotal role in specialized environments such as disaster response and underground exploration, where their stable power supply and reliable communication offer unparalleled advantages. However, their motion planning…
Modern intelligent and autonomous robotic applications often require robots to have more information about their environment than that provided by traditional occupancy grid maps. For example, a robot tasked to perform autonomous semantic…
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window Approach, Model Predictive Control, and more recently, Control…
We present a hierarchical RRT-based motion planning strategy, Hierarchical Annotated-Skeleton Guided RRT (HAS-RRT), guided by a workspace skeleton, to solve motion planning problems. HAS-RRT provides up to a 91% runtime reduction and builds…
Most autonomous cars rely on the availability of high-definition (HD) maps. Current research aims to address this constraint by directly predicting HD map elements from onboard sensors and reasoning about the relationships between the…
Scalable and maintainable map representations are fundamental to enabling large-scale visual navigation and facilitating the deployment of robots in real-world environments. While collaborative localization across multi-session mapping…
Graph matching is one of the most significant graph analytic tasks, which aims to find the node correspondence across different graphs. Most existing graph matching approaches mainly rely on topological information, whose performances are…
We present a visually grounded hierarchical planning algorithm for long-horizon manipulation tasks. Our algorithm offers a joint framework of neuro-symbolic task planning and low-level motion generation conditioned on the specified goal. At…
Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call…
Navigation is one of the most widely used applications of the Location Based Services (LBS) which have become part of our digitally informed daily lives. Navigation services, however, have generally been designed for drivers rather than…
For autonomous vehicles to operate persistently in a typical urban environment, it is essential to have high accuracy position information. This requires a mapping and localisation system that can adapt to changes over time. A localisation…
This paper considers the path planning problem for autonomous exploration of an unknown environment using multiple heterogeneous robots such as drones, wheeled, and legged robots, which have different capabilities to traverse complex…
This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
Relocalization, the process of re-establishing a robot's position within an environment, is crucial for ensuring accurate navigation and task execution when external positioning information, such as GPS, is unavailable or has been lost.…
Many works in the recent literature introduce semantic mapping methods that use CNNs (Convolutional Neural Networks) to recognize semantic properties in images. The types of properties (eg.: room size, place category, and objects) and their…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Topological correctness is critical for segmentation of tubular structures, which pervade in biomedical images. Existing topological segmentation loss functions are primarily based on the persistent homology of the image. They match the…
Along with the rapid growth of autonomous vehicles (AVs), more and more demands are required for environment perception technology. Among others, HD mapping has become one of the more prominent roles in helping the vehicle realize essential…