相关论文: Planetary Terrain Datasets and Benchmarks for Rove…
The prospect of using autonomous robots to enhance the capabilities of physicians and enable novel procedures has led to considerable efforts in developing medical robots and incorporating autonomous capabilities. Motion planning is a core…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
The planetary ephemerides play a crucial role for spacecraft navigation, mission planning, reduction and analysis of the most precise astronomical observations. The construction of such ephemerides is highly constrained by the tracking…
Recent advancement in off-road autonomy has shown promises in deploying autonomous mobile robots in outdoor off-road environments. Encouraging results have been reported from both simulated and real-world experiments. However, unlike…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
As the range of applications for Large Language Models (LLMs) continues to grow, the demand for effective serving solutions becomes increasingly critical. Despite the versatility of LLMs, no single model can optimally address all tasks and…
Climate change has increased the intensity, frequency, and duration of extreme weather events and natural disasters across the world. While the increased data on natural disasters improves the scope of machine learning (ML) in this field,…
Planar object tracking is a critical computer vision problem and has drawn increasing interest owing to its key roles in robotics, augmented reality, etc. Despite rapid progress, its further development, especially in the deep learning era,…
The rapid expansion of Earth Science data from satellite observations, reanalysis products, and numerical simulations has created a critical bottleneck in scientific discovery, namely identifying relevant datasets for a given research…
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…
In this field report, we detail the lessons learned from our field expedition to collect Ground Penetrating Radar (GPR) data in a Mars analog environment for the purpose of validating GPR localization techniques in rugged environments.…
In this paper, we study path planning algorithms of resource constrained mobile agents in unknown cluttered environments, which include but are not limited to various terrestrial missions e.g., search and rescue missions by drones in…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
In fast-paced, ever-changing environments, dynamic Motion Planning for Multi-Agent Systems in the presence of obstacles is a universal and unsolved problem. Be it from path planning around obstacles to the movement of robotic arms, or in…
Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exists potential for improvements, particularly in enhancing the…
At the heart of path-planning methods for autonomous robotic exploration is a heuristic which encourages exploring unknown regions of the environment. Such heuristics are typically computed using frontier-based or information-theoretic…
Benchmark datasets play a central role in the organization of machine learning research. They coordinate researchers around shared research problems and serve as a measure of progress towards shared goals. Despite the foundational role of…
This paper proposes a Guidance, Navigation, and Control (GNC) architecture for planetary rovers targeting the conditions of upcoming Mars exploration missions such as Mars 2020 and the Sample Fetching Rover (SFR). The navigation…
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…
We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global reactive planner. We leverage the recent development of a…