相关论文: DRIVE Through the Unpredictability:From a Protocol…
At shipping ports, some repetitive maneuvering tasks such as entering/leaving port, transporting goods inside it or just making surveillance activities, can be efficiently and quickly carried out by a domestic pilot according to his…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
Accurate traversability estimation using an online dense terrain map is crucial for safe navigation in challenging environments like construction and disaster areas. However, traversability estimation for legged robots on rough terrains…
Traversability estimation for mobile robots in off-road environments requires more than conventional semantic segmentation used in constrained environments like on-road conditions. Recently, approaches to learning a traversability…
Uncertainty in control and perception poses challenges for autonomous vehicle navigation in unstructured environments, leading to navigation failures and potential vehicle damage. This paper introduces a framework that minimizes control and…
When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unmanned ground vehicle (UGV) to perform its duties or learn…
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…
Traversability estimation in off-road terrains is an essential procedure for autonomous navigation. However, creating reliable labels for complex interactions between the robot and the surface is still a challenging problem in…
We develop data-driven algorithms for reachability analysis and control of systems with a priori unknown nonlinear dynamics. The resulting algorithms not only are suitable for settings with real-time requirements but also provide provable…
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…
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…
In safety-critical domains such as autonomous driving and medical diagnosis, the reliability of machine learning models is crucial. One significant challenge to reliability is concept drift, which can cause model deterioration over time.…
Safe, socially compliant, and efficient navigation of low-speed autonomous vehicles (AVs) in pedestrian-rich environments necessitates considering pedestrians' future positions and interactions with the vehicle and others. Despite the…
Heterogeneous robot teams used in marine environments incur time-and-energy penalties when the marine vehicle has to halt the mission to allow the autonomous aerial vehicle to land for recharging. In this paper, we present a solution for…
Autonomous navigation in extreme mountainous terrains poses challenges due to the presence of mobility-stressing elements and undulating surfaces, making it particularly difficult compared to conventional off-road driving scenarios. In such…
Traversability estimation in rugged, unstructured environments remains a challenging problem in field robotics. Often, the need for precise, accurate traversability estimation is in direct opposition to the limited sensing and compute…
Autonomous systems operating in unknown environments often rely heavily on visual sensor data, yet making safe and informed control decisions based on these measurements remains a significant challenge. To facilitate the integration of…