相关论文: SMART-OC: A Real-time Time-risk Optimal Replanning…

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…

Improving endurance is crucial for extending the spatial and temporal operation range of autonomous underwater vehicles (AUVs). Considering the hardware constraints and the performance requirements, an intelligent energy management system…

This paper presents the framework for a novel Unified Socially-Aware Navigation (USAN) architecture and explains its need in Socially Assistive Robotics (SAR) applications. Our approach emphasizes interpersonal distance and how spatial…

Stochastic Optimal Control (SOC) problems arise in systems influenced by uncertainty, such as autonomous robots or financial models. Traditional methods like dynamic programming are often intractable for high-dimensional, nonlinear systems…

This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…

We consider energy-aware planning for an unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) team operating in a stochastic environment. The UAV must visit a set of air points in minimum time while respecting energy constraints,…

Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue…

To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…

Efficient data collection methods play a major role in helping us better understand the Earth and its ecosystems. In many applications, the usage of unmanned aerial vehicles (UAVs) for monitoring and remote sensing is rapidly gaining…

Autonomous vehicles must navigate dynamically uncertain environments while balancing safety and efficiency. This challenge is exacerbated by unpredictable human-driven vehicle (HV) behaviors and perception inaccuracies, necessitating…

We present Topology-Guided ORCA as an alternative simulator to replace ORCA for planning smooth multi-agent motions in environments with static obstacles. Despite the impressive performance in simulating multi-agent crowd motion in free…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

Coordinating the motions of multiple autonomous vehicles (AVs) requires planning frameworks that ensure safety while making efficient use of space and time. This paper presents a new approach, termed variable-time-step spatio-temporal…

Parallel self-assembly is an efficient approach to accelerate the assembly process for modular robots. However, these approaches cannot accommodate complicated environments with obstacles, which restricts their applications. This paper…

Real-time long-range local planning is a challenging task, especially in the presence of dynamics obstacles. We propose a complete system which is capable of performing the local replanning in real-time. Desired trajectory is needed in the…

Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels,…

This paper proposes an uncertainty-aware marine pollution source tracking framework for unmanned surface vehicles (USVs). By integrating high-fidelity marine pollution dispersion simulation with informative path planning techniques, we…

We present a novel outdoor navigation algorithm to generate stable and efficient actions to navigate a robot to reach a goal. We use a multi-stage training pipeline and show that our approach produces policies that result in stable and…

Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…

Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…