相关论文: ASMA: An Adaptive Safety Margin Algorithm for Visi…
Robot motion planning is central to real-world autonomous applications, such as self-driving cars, persistence surveillance, and robotic arm manipulation. One challenge in motion planning is generating control signals for nonlinear systems…
Drones have been widely used in many areas of our daily lives. It relieves people of the burden of holding a controller all the time and makes drone control easier to use for people with disabilities or occupied hands. However, the control…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…
The active view acquisition problem has been extensively studied in the context of robot navigation using NeRF and 3D Gaussian Splatting. To enhance scene reconstruction efficiency and ensure robot safety, we propose the Risk-aware…
Mobile robots are desired with resilience to safely interact with prior-unknown environments and finally accomplish given tasks. This paper utilizes instantaneous local sensory data to stimulate the safe feedback motion planning (SFMP)…
In this paper, we present a controller framework that synthesizes control policies for Jump Markov Linear Systems subject to stochastic mode switches and imperfect mode estimation. Our approach builds on safe and robust methods for Model…
Local navigation in cluttered environments often suffers from dense obstacles and frequent local minima. Conventional local planners rely on heuristics and are prone to failure, while deep reinforcement learning(DRL)based approaches provide…
Sampling-based algorithms, such as Rapidly Exploring Random Trees (RRT) and its variants, have been used extensively for motion planning. Control barrier functions (CBFs) have been recently proposed to synthesize controllers for…
Object Goal Navigation (ObjectNav) challenges robots to find objects in unseen environments, demanding sophisticated reasoning. While Vision-Language Models (VLMs) show potential, current ObjectNav methods often employ them superficially,…
The draft IMO MASS Code requires autonomous and remotely supervised maritime vessels to detect departures from their operational design domain, enter a predefined fallback that notifies the operator, permit immediate human override, and…
Humans can collaborate and complete tasks based on visual signals and instruction from the environment. Training such a robot is difficult especially due to the understanding of the instruction and the complicated environment. Previous…
Motion prediction is an important aspect for Autonomous Driving (AD) and Advance Driver Assistance Systems (ADAS). Current state-of-the-art motion prediction methods rely on High Definition (HD) maps for capturing the surrounding context of…
This letter presents a nonlinear disturbance observer-parameterized control barrier function (DOp-CBF) designed for a robust safety control system under external disturbances. This framework emphasizes that the safety bounds are relevant to…
The agents within a multi-agent system (MAS) operating in marine environments often need to utilize task payloads and avoid collisions in coordination, necessitating adherence to a set of relative-pose constraints, which may include…
Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guarantee for safety critical systems. However, most CBF-related…
The paper proposes an on-line monitoring framework for continuous real-time safety/security in learning-based control systems (specifically application to a unmanned ground vehicle). We monitor validity of mappings from sensor inputs to…
Large vision-language models (LVLMs) are markedly proficient in deriving visual representations guided by natural language. Recent explorations have utilized LVLMs to tackle zero-shot visual anomaly detection (VAD) challenges by pairing…
To enable flexible, high-throughput automation in settings where people and robots share workspaces, collaborative robotic cells must reconcile stringent safety guarantees with the need for responsive and effective behavior. A dynamic…
A motion planning methodology based on the combination of Control Barrier Functions (CBF) and Signal Temporal Logic (STL) is employed in this paper. This methodology allows task completion at any point within a specified time interval,…
Most applications in autonomous navigation using mounted cameras rely on the construction and processing of geometric 3D point clouds, which is an expensive process. However, there is another simpler way to make a space navigable quickly:…