相关论文: XIT: Exploration and Exploitation Informed Trees f…
We present CROSS-GAiT, a novel algorithm for quadruped robots that uses Cross Attention to fuse terrain representations derived from visual and time-series inputs; including linear accelerations, angular velocities, and joint efforts. These…
Mobile robotic chemists are a fast growing trend in the field of chemistry and materials research. However, so far these mobile robots lack workflow awareness skills. This poses the risk that even a small anomaly, such as an improperly…
This paper presents an active search trajectory synthesis technique for autonomous mobile robots with nonlinear measurements and dynamics. The presented approach uses the ergodicity of a planned trajectory with respect to an expected…
This paper addresses the fast replanning problem in dynamic environments with moving obstacles. Since for randomly moving obstacles the future states are unpredictable, the proposed method, called SMARRT, reacts to obstacle motions and…
Swarm robotic search is concerned with searching targets in unknown environments (e.g., for search and rescue or hazard localization), using a large number of collaborating simple mobile robots. In such applications, decentralized swarm…
For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass and garden beds, for safety and social conformity…
Robotic solutions for quick disaster response are essential to ensure minimal loss of life, especially when the search area is too dangerous or too vast for human rescuers. We model this problem as an asynchronous multi-agent active-search…
Path planning for robotic exploration is challenging, requiring reasoning over unknown spaces and anticipating future observations. Efficient exploration requires selecting budget-constrained paths that maximize information gain. Despite…
Terrestrial-aerial bimodal vehicles, which integrate the high mobility of aerial robots with the long endurance of ground robots, offer significant potential for autonomous exploration. Given the inherent energy and time constraints in…
Optimizing the transient control of gas networks is a highly challenging task. The corresponding model incorporates the combinatorial complexity of determining the settings for the many active elements as well as the non-linear and…
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…
In this paper, we propose an autonomous exploration and a tapping mechanism-based material mapping system for a mobile robot in unknown environments. The goal of the proposed system is to integrate simultaneous localization and mapping…
Reducing the fuel load in fire-prone landscapes is aimed at mitigating the risk of catastrophic wildfires but there are ecological consequences. Maintaining habitat for fauna of both sufficient extent and connectivity while fragmenting…
As the application scenarios of mobile robots are getting more complex and challenging, scene understanding becomes increasingly crucial. A mobile robot that is supposed to operate autonomously in indoor environments must have precise…
Existing studies for gait recognition primarily utilized sequences of either binary silhouette or human parsing to encode the shapes and dynamics of persons during walking. Silhouettes exhibit accurate segmentation quality and robustness to…
Exploration requires that robots reason about numerous ways to cover a space in response to dynamically changing conditions. However, in continuous domains there are potentially infinitely many options for robots to explore which can prove…
3D Gaussian splatting (3DGS) and its subsequent variants have led to remarkable progress in simultaneous localization and mapping (SLAM). While most recent 3DGS-based SLAM works focus on small-scale indoor scenes, developing 3DGS-based SLAM…
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve across space and time, and ensuring persistent operation…
We propose an integrated approach to active exploration by exploiting the Cartographer method as the base SLAM module for submap creation and performing efficient frontier detection in the geometrically co-aligned submaps induced by graph…