相关论文: HuNavSim 2.0: An Enhanced Human Navigation Simulat…
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…
The human-robot interaction (HRI) community has developed many methods for robots to navigate safely and socially alongside humans. However, experimental procedures to evaluate these works are usually constructed on a per-method basis. Such…
Multi-agent systems play an important role in modern robotics. Due to the nature of these systems, coordination among agents via communication is frequently necessary. Indeed, Perception-Action-Communication (PAC) loops, or…
While commendable progress has been made in user-centric research on mobile assistive systems for blind and low-vision (BLV) individuals, references that directly inform robot navigation design remain rare. To bridge this gap, we conducted…
Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…
Guiding robots can not only detect close-range obstacles like other guiding tools, but also extend its range to perceive the environment when making decisions. However, most existing works over-simplified the interaction between human…
Developing new functionality for underwater robots and testing them in the real world is time-consuming and resource-intensive. Simulation environments allow for rapid testing before field deployment. However, existing tools lack certain…
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…
We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some…
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,…
Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike robots, humans navigate not only through spatial awareness and…
Navigating in human-filled public spaces is a critical challenge for deploying autonomous robots in real-world environments. This paper introduces NaviDIFF, a novel Hamiltonian-constrained socially-aware navigation framework designed to…
Mobile robot navigation has seen extensive research in the last decades. The aspect of collaboration with robots and humans sharing workspaces will become increasingly important in the future. Therefore, the next generation of mobile robots…
Leveraging human motion data to impart robots with versatile manipulation skills has emerged as a promising paradigm in robotic manipulation. Nevertheless, translating multi-source human hand motions into feasible robot behaviors remains…
In the context of autonomous navigation of terrestrial robots, the creation of realistic models for agent dynamics and sensing is a widespread habit in the robotics literature and in commercial applications, where they are used for model…
As spatial intelligence continues to evolve, heterogeneous multi-agent systems-particularly the collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), have demonstrated strong potential in complex…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
A significant problem in designing mobile robot control systems involves coping with the uncertainty that arises in moving about in an unknown or partially unknown environment and relying on noisy or ambiguous sensor data to acquire…
As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…