相关论文: FHT-Map: Feature-based Hierarchical Topological Ma…

Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…

A suitable feature representation that can both preserve the data intrinsic information and reduce data complexity and dimensionality is key to the performance of machine learning models. Deeply rooted in algebraic topology, persistent…

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…

Local feature matching aims at establishing sparse correspondences between a pair of images. Recently, detector-free methods present generally better performance but are not satisfactory in image pairs with large scale differences. In this…

Lane topology reasoning techniques play a crucial role in high-definition (HD) mapping and autonomous driving applications. While recent years have witnessed significant advances in this field, there has been limited effort to consolidate…

We show how random feature maps can be used to forecast dynamical systems with excellent forecasting skill. We consider the tanh activation function and judiciously choose the internal weights in a data-driven manner such that the resulting…

In this paper, we exploit minimal sensing information gathered from biologically inspired sensor networks to perform exploration and mapping in an unknown environment. A probabilistic motion model of mobile sensing nodes, inspired by motion…

In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…

A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…

In this paper, we present an approach to enhance and improve the current normal map rendering technique. Our algorithm is based on semi-discrete Optimal Mass Transportation (OMT) theory and has a solid theoretical base. The key difference…

We propose the Selective Densification method for fast motion planning through configuration space. We create a sequence of roadmaps by iteratively adding configurations. We organize these roadmaps into layers and add edges between…

Real-time motion planning is a vital function of robotic systems. Different from existing roadmap algorithms which first determine the free space and then determine the collision-free path, researchers recently proposed several convex…

In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely…

Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…

In this paper, a method for generating a map from path information described using natural language (textual path) is proposed. In recent years, robotics research mainly focus on vision-and-language navigation (VLN), a navigation task based…

Topological data analysis is an emerging field that applies the study of topological invariants to data. Perhaps the simplest of these invariants is the number of connected components or clusters. In this work, we explore a topological…

Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…

Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…

We introduce a new memory architecture for navigation in previously unseen environments, inspired by landmark-based navigation in animals. The proposed semi-parametric topological memory (SPTM) consists of a (non-parametric) graph with…

In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by…