相关论文: Beyond Shortsighted Navigation: Merging Best View …

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…

Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…

Objective-oriented navigation(ObjNav) enables robot to navigate to target object directly and autonomously in an unknown environment. Effective perception in navigation in unknown environment is critical for autonomous robots. While…

In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuously update and refine its feature map in order to adapt to the…

For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…

Robotic navigation has been approached as a problem of 3D reconstruction and planning, as well as an end-to-end learning problem. However, long-range navigation requires both planning and reasoning about local traversability, as well as…

Robots can be used to collect environmental data in regions that are difficult for humans to traverse. However, limitations remain in the size of region that a robot can directly observe per unit time. We introduce a method for selecting a…

Existing view planning systems either adopt an iterative paradigm using next-best views (NBV) or a one-shot pipeline relying on the set-covering view-planning (SCVP) network. However, neither of these methods can concurrently guarantee both…

Autonomous navigation in off-road environments remains a significant challenge in field robotics, particularly for Unmanned Ground Vehicles (UGVs) tasked with search and rescue, exploration, and surveillance. Effective long-range planning…

We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…

Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

This paper addresses multi-robot informative path planning (IPP) for environmental monitoring. The problem involves determining informative regions in the environment that should be visited by robots to gather the most information about the…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Rapid sampling from the environment to acquire available frontier points and timely incorporating them into subsequent planning to reduce fragmented regions are critical to improve the efficiency of autonomous exploration. We propose HPHS,…

We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…

Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that require both open-world object detection and high-level task…

Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…