相关论文: Learning Autonomy: Off-Road Navigation Enhanced by…

We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…

Autonomous agents embedded in a physical environment need the ability to recognize objects and their properties from sensory data. Such a perceptual ability is often implemented by supervised machine learning models, which are pre-trained…

This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…

Autonomous mobile robots operating in remote, unstructured environments must adapt to new, unpredictable terrains that can change rapidly during operation. In such scenarios, a critical challenge becomes estimating the robot's dynamics on…

Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…

Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…

Local planning is an optimization process within a mobile robot navigation stack that searches for the best velocity vector, given the robot and environment state. Depending on how the optimization criteria and constraints are defined, some…

Interconnected road lanes are a central concept for navigating urban roads. Currently, most autonomous vehicles rely on preconstructed lane maps as designing an algorithmic model is difficult. However, the generation and maintenance of such…

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…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

Reliable and accurate lane detection has been a long-standing problem in the field of autonomous driving. In recent years, many approaches have been developed that use images (or videos) as input and reason in image space. In this paper we…

Autonomous navigation in off-road conditions requires an accurate estimation of terrain traversability. However, traversability estimation in unstructured environments is subject to high uncertainty due to the variability of numerous…

A key challenge in off-road navigation is that even visually similar terrains or ones from the same semantic class may have substantially different traction properties. Existing work typically assumes no wheel slip or uses the expected…

Learning to navigate in a realistic setting where an agent must rely solely on visual inputs is a challenging task, in part because the lack of position information makes it difficult to provide supervision during training. In this paper,…

Learning-based approaches to autonomous vehicle planners have the potential to scale to many complicated real-world driving scenarios by leveraging huge amounts of driver demonstrations. However, prior work only learns to estimate a single…

As more robots are being deployed into human environments, a human-aware navigation planner needs to handle multiple contexts that occur in indoor and outdoor environments. In this paper, we propose a tunable human-aware robot navigation…

Autonomous exploration in complex and cluttered environments is essential for various applications. However, there are many challenges due to the lack of global heuristic information. Existing exploration methods suffer from the repeated…

This paper aims to investigate direct imitation learning from human drivers for the task of lane keeping assistance in highway and country roads using grayscale images from a single front view camera. The employed method utilizes…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…