相关论文: LSTP-Nav: Lightweight Spatiotemporal Policy for Ma…

Although learning-based vision-and-language navigation (VLN) agents can learn spatial knowledge implicitly from large-scale training data, zero-shot VLN agents lack this process, relying primarily on local observations for navigation, which…

Existing Active SLAM methodologies face issues such as slow exploration speed and suboptimal paths. To address these limitations, we propose a hybrid framework combining a Path-Uncertainty Co-Optimization Deep Reinforcement Learning…

Reliable navigation in disaster-response and other unstructured indoor settings requires robots not only to avoid obstacles but also to recognise when those obstacles can be pushed aside. We present an adaptive, LiDAR and odometry-based…

We present Scalable Multi-Agent Realistic Testbed (SMART), a realistic and efficient software tool for evaluating Multi-Agent Path Finding (MAPF) algorithms. MAPF focuses on planning collision-free paths for a group of robots. While…

Embodied navigation is a fundamental capability for robotic agents operating. Real-world deployment requires open vocabulary generalization and low training overhead, motivating zero-shot methods rather than task-specific RL training.…

Cost-efficient path planning across multiple terrains is a crucial task in robot navigation, requiring the identification of a path from the start to the goal that not only avoids obstacles but also minimizes the overall travel cost. This…

Existing multi-agent deep reinforcement learning (MADRL) methods for multi-UAV navigation face challenges in generalization, particularly when applied to unseen complex environments. To address these limitations, we propose a…

We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonholonomic dynamics. Existing methods in multi-agent motion…

Finite-time motion planning with collision avoidance is a challenging issue in multi-agent systems. This paper proposes a novel distributed controller based on a new Lyapunov barrier function which guarantees finite-time stability for…

Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we…

Multi-Agent Path Finding (MAPF) is the problem of effectively finding efficient collision-free paths for a group of agents in a shared workspace. The MAPF community has largely focused on developing high-performance heuristic search…

We present new models of optimization-based task and motion planning (TAMP) for robotic pick-and-place (P&P), which plan action sequences and motion trajectory with low computational costs. We improved an existing state-of-the-art TAMP…

Visual navigation takes inspiration from humans, who navigate in previously unseen environments using vision without detailed environment maps. Inspired by this, we introduce a novel no-RL, no-graph, no-odometry approach to visual…

Autonomous collision-free navigation in cluttered environments requires safe decision-making under partial observability with both static structure and dynamic obstacles. We present \textbf{PanoDP}, a communication-free learning framework…

Real-time planning for a combined problem of target assignment and path planning for multiple agents, also known as the unlabeled version of Multi-Agent Path Finding (MAPF), is crucial for high-level coordination in multi-agent systems,…

We propose a light-weight, self-supervised adaptation for a visual navigation agent to generalize to unseen environment. Given an embodied agent trained in a noiseless environment, our objective is to transfer the agent to a noisy…

Contemporary research in autonomous driving has demonstrated tremendous potential in emulating the traits of human driving. However, they primarily cater to areas with well built road infrastructure and appropriate traffic management…

We present Lifelong Scalable Multi-Agent Realistic Testbed (LSMART), an open-source simulator to evaluate any Multi-Agent Path Finding (MAPF) algorithm in a Fleet Management System (FMS) with Automated Guided Vehicles (AGVs). MAPF aims to…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

We present MG-Nav (Memory-Guided Navigation), a dual-scale framework for zero-shot visual navigation that unifies global memory-guided planning with local geometry-enhanced control. At its core is the Sparse Spatial Memory Graph (SMG), a…