相关论文: BSL: Navigation Method Considering Blind Spots Bas…
The advancement of robotics and autonomous navigation systems hinges on the ability to accurately predict terrain traversability. Traditional methods for generating datasets to train these prediction models often involve putting robots into…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
Several deployment locations of mobile robotic systems are human made (i.e. urban firefighter, building inspection, property security) and the manager may have access to domain-specific knowledge about the place, which can provide semantic…
Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…
We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…
Being able to estimate the traversability of the area surrounding a mobile robot is a fundamental task in the design of a navigation algorithm. However, the task is often complex, since it requires evaluating distances from obstacles, type…
Robust autonomous navigation in environments with limited visibility remains a critical challenge in robotics. We present a novel approach that leverages Non-Line-of-Sight (NLOS) sensing using single-photon LiDAR to improve visibility and…
This paper introduces SmartBSP, an advanced self-supervised learning framework for real-time path planning and obstacle avoidance in autonomous robotics navigating through complex environments. The proposed system integrates Proximal Policy…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
Navigation in natural outdoor environments requires a robust and reliable traversability classification method to handle the plethora of situations a robot can encounter. Binary classification algorithms perform well in their native domain…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…
This paper investigates different methods to detect obstacles ahead of a robot using a camera in the robot, an aerial camera, and an ultrasound sensor. We also explored various efficient path finding methods for the robot to navigate to the…
Mobile robot navigation is typically regarded as a geometric problem, in which the robot's objective is to perceive the geometry of the environment in order to plan collision-free paths towards a desired goal. However, a purely geometric…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
A robot navigating an outdoor environment with no prior knowledge of the space must rely on its local sensing to perceive its surroundings and plan. This can come in the form of a local metric map or local policy with some fixed horizon.…
CCTV-based vehicle tracking systems face structural limitations in continuously connecting the trajectories of the same vehicle across multiple camera environments. In particular, blind spots occur due to the intervals between CCTVs and…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike robots, humans navigate not only through spatial awareness and…
Service robots that work alongside humans in a shared environment need a navigation system that takes into account not only physical safety but also social norms for mutual cooperation. In this paper, we introduce a motion planning system…