相关论文: A Methodology for Designing Knowledge-Driven Missi…

Our goal is to develop a principled and general algorithmic framework for task-driven estimation and control for robotic systems. State-of-the-art approaches for controlling robotic systems typically rely heavily on accurately estimating…

We present Points2Plans, a framework for composable planning with a relational dynamics model that enables robots to solve long-horizon manipulation tasks from partial-view point clouds. Given a language instruction and a point cloud of the…

Recent years have seen an increasing number of deployment of fleets of autonomous vehicles. As the problem scales up, in terms of autonomous vehicles number and complexity of their objectives, there is a growing need for decision-support…

Objective: This paper describes the development of hybrid artificial intelligence strategies for drone navigation. Methods: The navigation module combines a deep learning model with a rule-based engine depending on the agent state. The deep…

Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…

Monitoring the health and vigor of grasslands is vital for informing management decisions to optimize rotational grazing in agriculture applications. To take advantage of forage resources and improve land productivity, we require knowledge…

This 'research preview' paper introduces an adaptive path planning framework for robotic mission execution in assistive-care applications. The framework provides a graph-based environment modelling approach, with dynamic path finding…

Cooperative autonomous robotic systems have significant potential for executing complex multi-task missions across space, air, ground, and maritime domains. But they commonly operate in remote, dynamic and hazardous environments, requiring…

As autonomous robots are becoming more widespread, more attention is being paid to the security of robotic operation. Autonomous robots can be seen as cyber-physical systems: they can operate in virtual, physical, and human realms.…

Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization are crucial to improve perception systems performance in…

In modern industrial settings with small batch sizes it should be easy to set up a robot system for a new task. Strategies exist, e.g. the use of skills, but when it comes to handling forces and torques, these systems often fall short. We…

In this paper, we propose a distributed multi-stage optimization method for planning complex missions for heterogeneous multi-robot teams. This class of problems involves tasks that can be executed in different ways and are associated with…

The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…

Learning from demonstration for motion planning is an ongoing research topic. In this paper we present a model that is able to learn the complex mapping from raw 2D-laser range findings and a target position to the required steering…

Fire is a highly destructive disaster, but effective prevention can significantly reduce its likelihood of occurrence. When it happens, deploying emergency robots in fire-risk scenarios can help minimize the danger to human responders.…

Heterogeneous multi-robot systems are increasingly used in long-horizon missions requiring coordinated planning across diverse capabilities. However, existing planning approaches struggle to construct accurate symbolic representations and…

Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…

Several deployment locations of mobile robotic systems are human made (i.e. urban firefighter, building inspection, property security) and the manager may have access to domain-specific knowledge about the place, which can provide semantic…

In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…

One of today's goals for industrial robot systems is to allow fast and easy provisioning for new tasks. Skill-based systems that use planning and knowledge representation have long been one possible answer to this. However, especially with…