相关论文: How Robot Dogs See the Unseeable: Improving Visual…
We consider exploration tasks in which an autonomous mobile robot incrementally builds maps of initially unknown indoor environments. In such tasks, the robot makes a sequence of decisions on where to move next that, usually, are based on…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…
Research indicates that humans can mistakenly assume that robots and humans have the same field of view, possessing an inaccurate mental model of robots. This misperception may lead to failures during human-robot collaboration tasks where…
Self/other distinction and self-recognition are important skills for interacting with the world, as it allows humans to differentiate own actions from others and be self-aware. However, only a selected group of animals, mainly high order…
Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
We address the problem of efficient 3-D exploration in indoor environments for micro aerial vehicles with limited sensing capabilities and payload/power constraints. We develop an indoor exploration framework that uses learning to predict…
Quadruped locomotion is currently a vibrant research area, which has reached a level of maturity and performance that enables some of the most advanced real-world applications with autonomous quadruped robots both in academia and industry.…
Terrain awareness, i.e., the ability to identify and distinguish different types of terrain, is a critical ability that robots must have to succeed at autonomous off-road navigation. Current approaches that provide robots with this…
To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
We naturally step sideways or lean to see around the obstacle when our view is blocked, and recover a more informative observation. Enabling robots to make the same kind of viewpoint choice is critical for human-centered operations,…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…
This paper focuses on online occupancy mapping and real-time collision checking onboard an autonomous robot navigating in a large unknown environment. Commonly used voxel and octree map representations can be easily maintained in a small…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
This paper describes a method of online refinement of a scene recognition model for robot navigation considering traversable plants, flexible plant parts which a robot can push aside while moving. In scene recognition systems that consider…
Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, especially when performing tasks that involve locating and…
Semantic maps allow a robot to reason about its surroundings to fulfill tasks such as navigating known environments, finding specific objects, and exploring unmapped areas. Traditional mapping approaches provide accurate geometric…