相关论文: Topological Navigation of Simulated Robots using O…
We consider how to directly extract a road map (also known as a topological representation) of an initially-unknown 2-dimensional environment via an online procedure that robustly computes a retraction of its boundaries. In this article, we…
We present a novel method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future information of dynamic scenes. Our automated generation process creates groundtruth SOGMs from previous navigation…
In this paper we present some results obtained with a troupe of low-cost robots designed to cooperatively explore and adquire the map of unknown structured orthogonal environments. In order to improve the covering of the explored zone, the…
In order to perform complex actions in human environments, an autonomous robot needs the ability to understand the environment, that is, to gather and maintain spatial knowledge. Topological map is commonly used for representing large…
We present a semantically rich graph representation for indoor robotic navigation. Our graph representation encodes: semantic locations such as offices or corridors as nodes, and navigational behaviors such as enter office or cross a…
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…
This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the prior 2D navigation map via SLAM to generate a sequence of…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…
This paper presents a Deep Reinforcement Learning based navigation approach in which we define the occupancy observations as heuristic evaluations of motion primitives, rather than using raw sensor data. Our method enables fast mapping of…
Recent results suggest that splitting topological navigation into robot-independent and robot-specific components improves navigation performance by enabling the robot-independent part to be trained with data collected by robots of…
A common approach for modeling the environment of an autonomous vehicle are dynamic occupancy grid maps, in which the surrounding is divided into cells, each containing the occupancy and velocity state of its location. Despite the advantage…
Mobile robots require comprehensive scene understanding to operate effectively in diverse environments, enriched with contextual information such as layouts, objects, and their relationships. Although advances like neural radiation fields…
Autonomous robots exploring unknown environments face a significant challenge: navigating effectively without prior maps and with limited external feedback. This challenge intensifies in sparse reward environments, where traditional…
This paper addresses the problem of robot navigation in mixed geometric/semantic 3D environments. Given a hierarchical representation of the environment, the objective is to navigate from a start position to a goal, while satisfying…
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…
Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements…
Representing a scanned map of the real environment as a topological structure is an important research in robotics. %is currently an important research. Since topological representations of maps save a huge amount of map storage space and…
Visual navigation follows the intuition that humans can navigate without detailed maps. A common approach is interactive exploration while building a topological graph with images at nodes that can be used for planning. Recent variations…
Modern intelligent and autonomous robotic applications often require robots to have more information about their environment than that provided by traditional occupancy grid maps. For example, a robot tasked to perform autonomous semantic…
Operating in previously visited environments is becoming increasingly crucial for autonomous systems, with direct applications in autonomous driving, surveying, and warehouse or household robotics. This repeated exposure to observing the…