相关论文: Feedback-Based Mobile Robot Navigation in 3-D Envi…
Robot navigation in dynamic, crowded environments poses a significant challenge due to the inherent uncertainties in the obstacle model. In this work, we propose a risk-adaptive approach based on the Conditional Value-at-Risk Barrier…
Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…
Robots moving safely and in a socially compliant manner in dynamic human environments is an essential benchmark for long-term robot autonomy. However, it is not feasible to learn and benchmark social navigation behaviors entirely in the…
This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…
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…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…
We present a lightweight, decentralized algorithm for navigating multiple nonholonomic agents through challenging environments with narrow passages. Our key idea is to allow agents to yield to each other in large open areas instead of…
For a multi-robot team that collaboratively explores an unknown environment, it is of vital importance that collected information is efficiently shared among robots in order to support exploration and navigation tasks. Practical constraints…
This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also bring in the requirement of the…
The primary objective of a safe navigation algorithm is to guide the object from its current position to the target position while avoiding any collision with the en-route obstacles, and the appropriate obstacle avoidance strategies are the…
This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…
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…
We consider three related problems of robot movement in arbitrary dimensions: coverage, search, and navigation. For each problem, a spherical robot is asked to accomplish a motion-related task in an unknown environment whose geometry is…
Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information…
This study proposes behavior-based navigation architecture, named BBFM, to deal with the problem of navigating the mobile robot in unknown environments in the presence of obstacles and local minimum regions. In the architecture, the complex…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Robot navigation in dynamic environments shared with humans is an important but challenging task, which suffers from performance deterioration as the crowd grows. In this paper, multi-subgoal robot navigation approach based on deep…
As a simple and robust mobile robot base, differential drive robots that can be modelled as a kinematic unicycle find significant applications in logistics and service robotics in both industrial and domestic settings. Safe robot navigation…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…