相关论文: GUIDEd Agents: Enhancing Navigation Policies throu…

This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…

Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…

Active visual SLAM finds a wide array of applications in GNSS-Denied sub-terrain environments and outdoor environments for ground robots. To achieve robust localization and mapping accuracy, it is imperative to incorporate the perception…

Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…

We consider an autonomous exploration problem in which a range-sensing mobile robot is tasked with accurately mapping the landmarks in an a priori unknown environment efficiently in real-time; it must choose sensing actions that both curb…

Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…

We consider the problems of exploration and point-goal navigation in previously unseen environments, where the spatial complexity of indoor scenes and partial observability constitute these tasks challenging. We argue that learning…

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…

In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…

This paper introduces a novel motion planning algorithm for stochastic scenarios. We extend the concept of a navigation function to such scenarios. Our main idea is to consider both the Gaussian distribution probabilities of the players'…

Robotic systems, particularly in demanding environments like narrow corridors or disaster zones, often grapple with imperfect state estimation. Addressing this challenge requires a trajectory plan that not only navigates these restrictive…

Autonomous robot teams navigating partially known environments face costly backtracking when ground robots encounter blocked roads that are only revealed upon physical traversal. We address this with Scout-Assisted Planning, a heterogeneous…

Assistance robots have gained widespread attention in various industries such as logistics and human assistance. The tasks of guiding or following a human in a crowded environment such as airports or train stations to carry weight or goods…

This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth). Standard reinforcement learning algorithms typically…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…

Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…

Robotic exploration of unknown environments is fundamentally a problem of decision making under uncertainty where the robot must account for uncertainty in sensor measurements, localization, action execution, as well as many other factors.…

We address the challenge of task-oriented navigation in unstructured and unknown environments, where robots must incrementally build and reason on rich, metric-semantic maps in real time. Since tasks may require clarification or…

Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…