相关论文: Distance and Collision Probability Estimation from…

In this paper, we develop a novel method for fast geodesic distance queries. The key idea is to embed the mesh into a high-dimensional space, such that the Euclidean distance in the high-dimensional space can induce the geodesic distance in…

In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment. However, the problem of evaluating the proximity is…

This research introduces two efficient methods to estimate the collision risk of planned trajectories in autonomous driving under uncertain driving conditions. Deterministic collision checks of planned trajectories are often inaccurate or…

An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear separators only apply to convex sets, these methods require…

This paper addresses the autonomous robot ergodicity problem for efficient environment exploration. The spatial distribution as a reference is given by a mixture of Gaussian and the mass generation of the robot is assumed to be skinny…

During recent years, unmanned surface vehicles are extensively utilised in a variety of maritime applications such as the exploration of unknown areas, autonomous transportation, offshore patrol and others. In such maritime applications,…

In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…

In this paper, we consider the problem of using a robot to explore an environment with an unknown, state-dependent disturbance function while avoiding some forbidden areas. The goal of the robot is to safely collect observations of the…

Efficient and safe retrieval of stacked objects in warehouse environments is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but…

For motion planning in high dimensional configuration spaces, a significant computational bottleneck is collision detection. Our aim is to reduce the expected number of collision checks by creating a belief model of the configuration space…

In this study, we investigate the problem of tracking objects with unknown shapes using three-dimensional (3D) point cloud data. We propose a Gaussian process-based model to jointly estimate object kinematics, including position,…

Human motion prediction is an essential step for efficient and safe human-robot collaboration. Current methods either purely rely on representing the human joints in some form of neural network-based architecture or use regression models…

This letter describes an incremental multimodal surface mapping methodology, which represents the environment as a continuous probabilistic model. This model enables high-resolution reconstruction while simultaneously compressing spatial…

Whereas dedicated scene representations are required for each different task in conventional robotic systems, this paper demonstrates that a unified representation can be used directly for multiple key tasks. We propose the Log-Gaussian…

The accurate reconstruction of dynamic street scenes is critical for applications in autonomous driving, augmented reality, and virtual reality. Traditional methods relying on dense point clouds and triangular meshes struggle with moving…

We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the image frame and rejects ellipses that do not yield a good…

Ensuring vertical separation is a key means of maintaining safe separation between aircraft in congested airspace. Aircraft trajectories are modelled in the presence of significant epistemic uncertainty, leading to discrepancies between…

Neglecting small fragments in space debris evolutionary models can lead to a significant underestimation of the collision risk for operational satellites. However, when scaling down to the millimeter range, the debris population grows to…

Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information about rigid-body dynamics in the presence…