相关论文: BoxMap: Efficient Structural Mapping and Navigatio…

We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…

Mapping is an important part of many robotic applications. In order to measure the performance of the mapping process we have to measure the quality of its result: the map. The map is essential for robotic algorithms like localization and…

We present the Latent Adaptive Planner (LAP), a trajectory-level latent-variable policy for dynamic nonprehensile manipulation (e.g., box catching) that formulates planning as inference in a low-dimensional latent space and is learned…

Service robots operating in cluttered human environments such as homes, offices, and schools cannot rely on predefined object arrangements and must continuously update their semantic and spatial estimates while dealing with possible…

Panoramic image enables deeper understanding and more holistic perception of $360^\circ$ surrounding environment, which can naturally encode enriched scene context information compared to standard perspective image. Previous work has made…

Topological strategies for navigation meaningfully reduce the space of possible actions available to a robot, allowing use of heuristic priors or learning to enable computationally efficient, intelligent planning. The challenges in…

This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…

The capability of autonomous exploration in complex, unknown environments is important in many robotic applications. While recent research on autonomous exploration have achieved much progress, there are still limitations, e.g., existing…

Estimating terrain traversability in off-road environments requires reasoning about complex interaction dynamics between the robot and these terrains. However, it is challenging to create informative labels to learn a model in a supervised…

Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…

The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…

Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…

The most common way for robots to handle environmental information is by using maps. At present, each kind of data is hosted on a separate map, which complicates planning because a robot attempting to perform a task needs to access and…

Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…

While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising…

We would like robots to be able to safely navigate at high speed, efficiently use local 3D information, and robustly plan motions that consider pose uncertainty of measurements in a local map structure. This is hard to do with previously…

In this paper, we propose an integrated framework for the autonomous robotic exploration in indoor environments. Specially, we present a hybrid map, named Semantic Road Map (SRM), to represent the topological structure of the explored…

This paper highlights the significance of including memory structures in neural networks when the latter are used to learn perception-action loops for autonomous robot navigation. Traditional navigation approaches rely on global maps of the…

This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…

We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…