相关论文: MRHaD: Mixed Reality-based Hand-Drawn Map Editing …

This paper presents a provably correct method for robot navigation in 2D environments cluttered with familiar but unexpected non-convex, star-shaped obstacles as well as completely unknown, convex obstacles. We presuppose a limited range…

In this paper, we present a novel hybrid approach that combines Reinforcement Learning (RL) with Dynamic Window Approach (DWA) for adaptive 3D local navigation of high-degree-of-freedom robotic systems. Our method leverages sparse point…

Autonomous navigation capabilities play a critical role in service robots operating in environments where human interactions are pivotal, due to the dynamic and unpredictable nature of these environments. However, the variability in human…

When collaborating relative to a shared 3D virtual object in mixed reality (MR), users may experience communication issues arising from differences in perspective. These issues include occlusion (e.g., one user not being able to see what…

This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…

The prevalence of smartphone and consumer camera has led to more evidence in the form of digital images, which are mostly taken in uncontrolled and uncooperative environments. In these images, criminals likely hide or cover their faces…

To operate with limited sensor horizons in unpredictable environments, autonomous robots use a receding-horizon strategy to plan trajectories, wherein they execute a short plan while creating the next plan. However, creating safe,…

Enabling robots to efficiently search for and identify objects in complex, unstructured environments is critical for diverse applications ranging from household assistance to industrial automation. However, traditional scene representations…

We present Le-RNR-Map, a Language-enhanced Renderable Neural Radiance map for Visual Navigation with natural language query prompts. The recently proposed RNR-Map employs a grid structure comprising latent codes positioned at each pixel.…

Deep Reinforcement Learning (DRL) based navigation methods have demonstrated promising results for mobile robots, but suffer from limited action flexibility in confined spaces. Conventional DRL approaches predominantly learn forward-motion…

The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…

Urban search and rescue missions require rapid first response to minimize loss of life and damage. Often, such efforts are assisted by humanitarian robots which need to handle dynamic operational conditions such as uneven and rough…

In the context of Intelligent Transportation Systems and the delivery of goods, new technology approaches need to be developed in order to cope with certain challenges that last mile delivery entails, such as navigation in an urban…

We present a new multi-stream 3D mesh reconstruction network (MSMR-Net) for hand pose estimation from a single RGB image. Our model consists of an image encoder followed by a mesh-convolution decoder composed of connected graph convolution…

Our research explores the potential of a humanoid robot for work in unpredictable environments, but controlling a humanoid robot remains a very difficult problem. In our previous work, we designed a prototype virtual reality (VR) interface…

As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…

Long-term 3D map management is a fundamental capability required by a robot to reliably navigate in the non-stationary real-world. This paper develops open-source, modular, and readily available LiDAR-based lifelong mapping for urban sites.…

The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…

While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…

We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that…