相关论文: Autonomous Navigation in Ice-Covered Waters with L…

Autonomous vehicles face significant challenges in navigating adverse weather, particularly rain, due to the visual impairment of camera-based systems. In this study, we leveraged contemporary deep learning techniques to mitigate these…

Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…

Autonomous ships are essentially designed and equipped to perceive their internal and external environment and subsequently perform appropriate actions depending on the predetermined objective(s) without human intervention. Consequently,…

An enabling technology for future sea transports is safe and energy-efficient autonomous maritime navigation in narrow environments with other marine vessels present. This requires that the algorithm controlling the ship is able to account…

Recently, mobile robots have become important tools in various industries, especially in logistics. Deep reinforcement learning emerged as an alternative planning method to replace overly conservative approaches and promises more efficient…

Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…

Inspired by animal navigation strategies, we introduce a novel computational model to navigate and map a space rooted in biologically inspired principles. Animals exhibit extraordinary navigation prowess, harnessing memory, imagination, and…

In recent years, learning-based approaches have demonstrated significant promise in addressing intricate navigation tasks. Traditional methods for training deep neural network navigation policies rely on meticulously designed reward…

We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…

A critical aspect of safe and efficient motion planning for autonomous vehicles (AVs) is to handle the complex and uncertain behavior of surrounding human-driven vehicles (HDVs). Despite intensive research on driver behavior prediction,…

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…

Learning is an inherently continuous phenomenon. When humans learn a new task there is no explicit distinction between training and inference. As we learn a task, we keep learning about it while performing the task. What we learn and how we…

Monitoring and patrolling large water resources is a major challenge for conservation. The problem of acquiring data of an underlying environment that usually changes within time involves a proper formulation of the information. The use of…

We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…

Autonomous aerial navigation in dense natural environments remains challenging due to limited visibility, thin and irregular obstacles, GNSS-denied operation, and frequent perceptual degradation. This work presents an improved deep…

We present DeepNav, a Convolutional Neural Network (CNN) based algorithm for navigating large cities using locally visible street-view images. The DeepNav agent learns to reach its destination quickly by making the correct navigation…

Collision avoidance capability is an essential component in an autonomous vessel navigation system. To this end, an accurate prediction of dynamic obstacle trajectories is vital. Traditional approaches to trajectory prediction face…

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…

Routing vessels through narrow and dynamic waterways is challenging due to changing environmental conditions and operational constraints. Existing vessel-routing studies typically fail to generalize across multiple origin-destination pairs…

This article introduces a five-tiered route planner for accessing multiple nodes with multiple autonomous underwater vehicles (AUVs) that enables efficient task completion in stochastic ocean environments. First, the pre-planning tier…