相关论文: RB5 Low-Cost Explorer: Implementing Autonomous Lon…

In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…

Many unmanned aerial vehicle surveillance and monitoring applications require observations at precise locations over long periods of time, ideally days or weeks at a time (e.g. ecosystem monitoring), which has been impractical due to…

Multi-robot collaboration has become a needed component in unknown environment exploration due to its ability to accomplish various challenging situations. Potential-field-based methods are widely used for autonomous exploration because of…

This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…

Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…

Exploration in environments with sparse rewards has been a persistent problem in reinforcement learning (RL). Many tasks are natural to specify with a sparse reward, and manually shaping a reward function can result in suboptimal…

Robotic navigation concerns the task in which a robot should be able to find a safe and feasible path and traverse between two points in a complex environment. We approach the problem of robotic navigation using reinforcement learning and…

This work presents a vision-based underwater exploration and inspection autonomy solution integrated into Ariel, a custom vision-driven underwater robot. Ariel carries a $5$ camera and IMU based sensing suite, enabling a refraction-aware…

In this study, a small, inexpensive remotely driven underwater vehicle that can navigate in shallow water for the purpose of monitoring water quality and demonstrating vehicle control algorithms is presented. The vehicle is operated by an…

Robotic agents that operate autonomously in the real world need to continuously explore their environment and learn from the data collected, with minimal human supervision. While it is possible to build agents that can learn in such a…

Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…

Place recognition plays an important role in achieving robust long-term autonomy. Real-world robots face a wide range of weather conditions (e.g. overcast, heavy rain, and snowing) and most sensors (i.e. camera, LiDAR) essentially…

In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…

Legged robots are increasingly being adopted in industries such as oil, gas, mining, nuclear, and agriculture. However, new challenges exist when moving into natural, less-structured environments, such as forestry applications. This paper…

Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…

Generating a collision-free robot motion is crucial for safe applications in real-world settings. This requires an accurate model of all obstacle shapes within the constrained robot cell, which is particularly challenging and…

Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents…

This paper introduces SMARTmBOT, an open-source mobile robot platform based on Robot Operating System 2 (ROS2). The characteristics of the SMARTmBOT, including low-cost, modular-typed, customizable and expandable design, make it an easily…

We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and boulders, steep slopes, negative obstacles like cliffs and…

Optimal locomotion and efficient traversal of extraterrestrial rovers in dynamic terrains and environments is an important problem statement in the field of planetary science and geophysical systems. Designing a superlative and efficient…