相关论文: SwordRiding: A Unified Navigation Framework for Qu…

This paper addresses the problem of traversing through unknown, tilted, and narrow gaps for quadrotors using Deep Reinforcement Learning (DRL). Previous learning-based methods relied on accurate knowledge of the environment, including the…

Safe swarm navigation in cluttered indoor environment requires long-horizon planning, reactive obstacle avoidance, and adaptive compliance. We propose ImpedanceDiffusion, a hierarchical framework that leverages image-conditioned…

Signed Distance Fields (SDFs) are a fundamental representation in robot motion planning. Their configuration-space counterpart, the Configuration Space Distance Field (CDF), directly encodes distances in joint space, offering a unified…

This study presents a dynamic safety margin-based reinforcement learning framework for local motion planning in dynamic and uncertain environments. The proposed planner integrates real-time trajectory optimization with adaptive gap…

In underwater navigation, accurate heading information is crucial for accurately and continuously tracking trajectories, especially during extended missions beneath the waves. In order to determine the initial heading, a gyrocompassing…

Unstructured environments are difficult for autonomous driving. This is because various unknown obstacles are lied in drivable space without lanes, and its width and curvature change widely. In such complex environments, searching for a…

For autonomous quadruped robot navigation in various complex environments, a typical SOTA system is composed of four main modules -- mapper, global planner, local planner, and command-tracking controller -- in a hierarchical manner. In this…

Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…

Real-time navigation in a priori unknown environment remains a challenging task, especially when an unexpected (unmodeled) disturbance occurs. In this paper, we propose the framework Safe Returning Fast and Safe Tracking (SR-F) that merges…

Vision-based target tracking is crucial for unmanned surface vehicles (USVs) to perform tasks such as inspection, monitoring, and surveillance. However, real-time tracking in complex maritime environments is challenging due to dynamic…

Robot navigation in large, complex, and unknown indoor environments is a challenging problem. The existing approaches, such as traditional sampling-based methods, struggle with resolution control and scalability, while imitation…

Autonomously controlling quadrotors in large-scale subterranean environments is applicable to many areas such as environmental surveying, mining operations, and search and rescue. Learning-based controllers represent an appealing approach…

Many dynamical systems can be described in terms of structured flows combining source/sink behavior, cyclic dynamics, and topology-constrained transport. These features arise across a wide range of domains, including physical, engineered,…

Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance and gradient information against obstacles. Fast incrementally built ESDF map is the bottleneck for…

A robotic system of multiple unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) has the potential for advancing autonomous object geolocation performance. Much research has focused on algorithmic improvements on individual…

Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…

Online state-time trajectory planning in highly dynamic environments remains an unsolved problem due to the unpredictable motions of moving obstacles and the curse of dimensionality from the state-time space. Existing state-time planners…

This paper presents a safe, efficient, and agile ground vehicle navigation algorithm for 3D off-road terrain environments. Off-road navigation is subject to uncertain vehicle-terrain interactions caused by different terrain conditions on…

Navigating unfamiliar environments remains one of the most persistent and critical challenges for people who are blind or have limited vision (BLV). Existing assistive tools often rely on online services or APIs, making them costly,…

Vector field guided path following (VF-PF) algorithms are fundamental in robot navigation tasks, but may not deliver the desirable performance when robots encounter singular points where the vector field becomes zero. The existence of…