相关论文: MRHaD: Mixed Reality-based Hand-Drawn Map Editing …
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…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…
To move through the world, mobile robots typically use a receding-horizon strategy, wherein they execute an old plan while computing a new plan to incorporate new sensor information. A plan should be dynamically feasible, meaning it obeys…
Efficient routing of mobile robot fleets is crucial in intralogistics, where delays and deadlocks can substantially reduce system throughput. Roadmap design, specifying feasible transport routes, directly affects fleet coordination and…
Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and…
We present an augmented reality human-swarm interface that combines two modalities of interaction: environment-oriented and robot-oriented. The environment-oriented modality allows the user to modify the environment (either virtual or…
Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…
A major challenge in humanoid robotics is designing a unified interface for commanding diverse whole-body behaviors, from precise footstep sequences to partial-body mimicry and joystick teleoperation. We introduce the Masked Humanoid…
In automated warehouses, teams of mobile robots fulfill the packaging process by transferring inventory pods to designated workstations while navigating narrow aisles formed by tightly packed pods. This problem is typically modeled as a…
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 integration of augmented reality (AR), extended reality (XR), and virtual reality (VR) technologies in agriculture has shown significant promise in enhancing various agricultural practices. Mobile robots have also been adopted as…
We present HARP (HAnd Reconstruction and Personalization), a personalized hand avatar creation approach that takes a short monocular RGB video of a human hand as input and reconstructs a faithful hand avatar exhibiting a high-fidelity…
Autonomous long-horizon mobile manipulation encompasses a multitude of challenges, including scene dynamics, unexplored areas, and error recovery. Recent works have leveraged foundation models for scene-level robotic reasoning and planning.…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
Inspired by the fact that humans use diverse sensory organs to perceive the world, sensors with different modalities are deployed in end-to-end driving to obtain the global context of the 3D scene. In previous works, camera and LiDAR inputs…
Future crewed missions to the Moon will face significant environmental and operational challenges, posing risks to the safety and performance of astronauts navigating its inhospitable surface. Whilst head-up displays (HUDs) have proven…
Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topological, where image-as-node based graphs lack explicit…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
We present a novel approach called Optimized Directed Roadmap Graph (ODRM). It is a method to build a directed roadmap graph that allows for collision avoidance in multi-robot navigation. This is a highly relevant problem, for example for…
Multi-robot navigation in cluttered environments presents fundamental challenges in balancing reactive collision avoidance with long-range goal achievement. When navigating through narrow passages or confined spaces, deadlocks frequently…