相关论文: RHAML: Rendezvous-based Hierarchical Architecture …

Perceptual aliasing and weak textures pose significant challenges to the task of place recognition, hindering the performance of Simultaneous Localization and Mapping (SLAM) systems. This paper presents a novel model, called UMF (standing…

Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

Humans build viewpoint-independent cognitive maps through navigation, enabling intuitive reasoning about object permanence and spatial relations. We argue that multimodal large language models (MLLMs), despite extensive video training, lack…

Multimodal models trained on complete modality data often exhibit a substantial decrease in performance when faced with imperfect data containing corruptions or missing modalities. To address this robustness challenge, prior methods have…

This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active…

Predicting human mobility is inherently challenging due to complex long-range dependencies and multi-scale periodic behaviors. To address this, we introduce RHYTHM (Reasoning with Hierarchical Temporal Tokenization for Human Mobility), a…

As an emerging technology, Connected Autonomous Vehicles (CAVs) are believed to have the ability to move through intersections in a faster and safer manner, through effective Vehicle-to-Everything (V2X) communication and global observation.…

Relative spatial relations provide a compact representation of spatial structure and are fundamental to relative spatial reasoning in 3D layout generation. Recent works leverage Multimodal Large Language Models (MLLMs) to infer such…

Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…

Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…

In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing. The vehicles are each assumed to be equipped with a forward-facing monocular camera,…

Heterogeneity is a fundamental property in multi-agent reinforcement learning (MARL), which is closely related not only to the functional differences of agents, but also to policy diversity and environmental interactions. However, the MARL…

A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…

Due to the robustness in sensing, radar has been highlighted, overcoming harsh weather conditions such as fog and heavy snow. In this paper, we present a novel radar-only place recognition that measures the similarity score by utilizing…

We present a novel framework for collaboration amongst a team of robots performing Pose Graph Optimization (PGO) that addresses two important challenges for multi-robot SLAM: i) that of enabling information exchange "on-demand" via Active…

We envision that in the near future, humanoid robots would share home space and assist us in our daily and routine activities through object manipulations. One of the fundamental technologies that need to be developed for robots is to…

Satellite communications, essential for modern connectivity, extend access to maritime, aeronautical, and remote areas where terrestrial networks are unfeasible. Current GEO systems distribute power and bandwidth uniformly across beams…

In today's rapidly evolving military landscape, advancing artificial intelligence (AI) in support of wargaming becomes essential. Despite reinforcement learning (RL) showing promise for developing intelligent agents, conventional RL faces…

A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…