相关论文: Towards Autonomous Navigation in Endovascular Inte…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…
With the fast and unstoppable evolution of robotics and artificial intelligence, effective autonomous navigation in real-world scenarios has become one of the most pressing challenges in the literature. However, demanding requirements, such…
This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…
Designing a robotic system that functions effectively within the specific environment of a Magnetic Resonance Imaging (MRI) scanner requires solving numerous technical issues, such as maintaining the robot's precision and stability under…
Indoor navigation aims at performing navigation within buildings. In scenes like home and factory, most intelligent mobile devices require an functionality of routing to guide itself precisely through indoor scenes to complete various tasks…
With the growing demand for large-scale and high-quality data in edge intelligence systems, mobile robots are increasingly deployed to collect data proactively, particularly in complex environments. However, existing robot-assisted data…
A safe and robust on-road navigation system is a crucial component of achieving fully automated vehicles. NVIDIA recently proposed an End-to-End algorithm that can directly learn steering commands from raw pixels of a front camera by using…
Integrating Brain-Machine Interfaces into non-clinical applications like robot motion control remains difficult - despite remarkable advancements in clinical settings. Specifically, EEG-based motor imagery systems are still error-prone,…
Autonomous navigation in marine environments can be extremely challenging, especially in the presence of spatially varying flow disturbances and dynamic and static obstacles. In this work, we demonstrate that incorporating local flow field…
Navigation is a fundamental capability for mobile robots. While the current trend is to use learning-based approaches to replace traditional geometry-based methods, existing end-to-end learning-based policies often struggle with 3D spatial…
We propose AstroSLAM, a standalone vision-based solution for autonomous online navigation around an unknown target small celestial body. AstroSLAM is predicated on the formulation of the SLAM problem as an incrementally growing factor…
Minimally invasive medical procedures, such as endovascular catheterization, have drastically reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
Real-time visual feedback from catheterization analysis is crucial for enhancing surgical safety and efficiency during endovascular interventions. However, existing datasets are often limited to specific tasks, small scale, and lack the…
In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…
Rescue vessels are the main actors in maritime safety and rescue operations. At the same time, aerial drones bring a significant advantage into this scenario. This paper presents the research directions of the AutoSOS project, where we work…
Reliable and efficient trajectory optimization methods are a fundamental need for autonomous dynamical systems, effectively enabling applications including rocket landing, hypersonic reentry, spacecraft rendezvous, and docking. Within such…
Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…
Previous Vision-Language-Action models face critical limitations in navigation: scarce, diverse data from labor-intensive collection and static representations that fail to capture temporal dynamics and physical laws. We propose NavDreamer,…