相关论文: Aim My Robot: Precision Local Navigation to Any Ob…

Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…

Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…

A basic task in the design of a robotic production cell is the relative placement of robot and workpiece. The fundamental requirement is that the robot can reach all process positions; only then one can think of further optimization.…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

Ensuring human safety is of paramount importance in warehouse environments that feature mixed traffic of human workers and autonomous mobile robots (AMRs). Current approaches often treat humans as generic dynamic obstacles, leading to…

Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the robots' locomotion and can not be applied to tasks where…

The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…

Localization is the challenge of determining the robot's pose in a mapped environment. This is done by implementing a probabilistic algorithm to filter noisy sensor measurements and track the robot's position and orientation. This paper…

Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…

Non-prehensile manipulation, such as pushing objects to a desired target position, is an important skill for robots to assist humans in everyday situations. However, the task is challenging due to the large variety of objects with different…

Generating natural and physically feasible motions for legged robots has been a challenging problem due to its complex dynamics. In this work, we introduce a novel learning-based framework of autoregressive motion planner (ARMP) for…

Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

Object placement in robotic tasks is inherently challenging due to the diversity of object geometries and placement configurations. To address this, we propose AnyPlace, a two-stage method trained entirely on synthetic data, capable of…

Many language-guided robotic systems rely on collapsing spatial reasoning into discrete points, making them brittle to perceptual noise and semantic ambiguity. To address this challenge, we propose RoboMAP, a framework that represents…

We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…

Robots-operating autonomous assembly applications in an unstructured environment require precise methods to locate the building components on site. However, the current available object detection systems are not well-optimised for…

This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…

In the recent decade, electronic technology gets advanced day by day the methodologies too should update. For the purpose of ranging various methods such Radio Detection and Ranging (RADAR), Light Detection and Ranging (LIDAR) and Sonic…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…