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09/15/2023
MTG: Mapless Trajectory Generator with Traversability Coverage for Outdoor Navigation
We present a novel learning algorithm for trajectory generation for outd...
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08/18/2023
How susceptible are LLMs to Logical Fallacies?
This paper investigates the rational thinking capability of Large Langua...
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08/06/2023
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023
The 2nd BARN (Benchmark Autonomous Robot Navigation) Challenge took plac...
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06/29/2023
Principles and Guidelines for Evaluating Social Robot Navigation Algorithms
A major challenge to deploying robots widely is navigation in human-popu...
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06/20/2023
Learning to Model and Plan for Wheeled Mobility on Vertically Challenging Terrain
Most autonomous navigation systems assume wheeled robots are rigid bodie...
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03/27/2023
Toward Human-Like Social Robot Navigation: A Large-Scale, Multi-Modal, Social Human Navigation Dataset
Humans are well-adept at navigating public spaces shared with others, wh...
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03/20/2023
Team Coordination on Graphs with State-Dependent Edge Cost
This paper studies a team coordination problem in a graph environment. S...
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03/02/2023
Toward Wheeled Mobility on Vertically Challenging Terrain: Platforms, Datasets, and Algorithms
Most conventional wheeled robots can only move in flat environments and ...
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10/10/2022
Learning Real-world Autonomous Navigation by Self-Supervised Environment Synthesis
Machine learning approaches have recently enabled autonomous navigation ...
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10/10/2022
Benchmarking Reinforcement Learning Techniques for Autonomous Navigation
Deep reinforcement learning (RL) has brought many successes for autonomo...
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09/27/2022
Learning Perceptual Hallucination for Multi-Robot Navigation in Narrow Hallways
While current systems for autonomous robot navigation can produce safe a...
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09/22/2022
Learning Model Predictive Controllers with Real-Time Attention for Real-World Navigation
Despite decades of research, existing navigation systems still face real...
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08/22/2022
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The BARN Challenge at ICRA 2022
The BARN (Benchmark Autonomous Robot Navigation) Challenge took place at...
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06/27/2022
Causal Dynamics Learning for Task-Independent State Abstraction
Learning dynamics models accurately is an important goal for Model-Based...
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06/16/2022
High-Speed Accurate Robot Control using Learned Forward Kinodynamics and Non-linear Least Squares Optimization
Accurate control of robots in the real world requires a control system t...
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04/11/2022
A Protocol for Validating Social Navigation Policies
Enabling socially acceptable behavior for situated agents is a major goa...
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03/30/2022
VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics
One of the key challenges in high speed off road navigation on ground ve...
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03/28/2022
Socially Compliant Navigation Dataset (SCAND): A Large-Scale Dataset of Demonstrations for Social Navigation
Social navigation is the capability of an autonomous agent, such as a ro...
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09/18/2021
Visual Representation Learning for Preference-Aware Path Planning
Autonomous mobile robots deployed in outdoor environments must reason ab...
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08/22/2021
APPLE: Adaptive Planner Parameter Learning from Evaluative Feedback
Classical autonomous navigation systems can control robots in a collisio...
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08/22/2021
From Agile Ground to Aerial Navigation: Learning from Learned Hallucination
This paper presents a self-supervised Learning from Learned Hallucinatio...
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07/08/2021
Incorporating Gaze into Social Navigation
Most current approaches to social navigation focus on the trajectory and...
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06/23/2021
Prevention and Resolution of Conflicts in Social Navigation – a Survey
With the approaching goal of having robots collaborate in shared human-r...
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05/19/2021
VOILA: Visual-Observation-Only Imitation Learning for Autonomous Navigation
While imitation learning for vision based autonomous mobile robot naviga...
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05/17/2021
APPL: Adaptive Planner Parameter Learning
While current autonomous navigation systems allow robots to successfully...
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05/08/2021
Team Orienteering Coverage Planning with Uncertain Reward
Many municipalities and large organizations have fleets of vehicles that...
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02/25/2021
Learning Inverse Kinodynamics for Accurate High-Speed Off-Road Navigation on Unstructured Terrain
This paper presents a learning-based approach to consider the effect of ...
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11/26/2020
Motion Control for Mobile Robot Navigation Using Machine Learning: a Survey
Moving in complex environments is an essential capability of intelligent...
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11/01/2020
APPLI: Adaptive Planner Parameter Learning From Interventions
While classical autonomous navigation systems can typically move robots ...
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11/01/2020
APPLR: Adaptive Planner Parameter Learning from Reinforcement
Classical navigation systems typically operate using a fixed set of hand...
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10/19/2020
Extended Abstract: Motion Planners Learned from Geometric Hallucination
Learning motion planners to move robot from one point to another within ...
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10/16/2020
Agile Robot Navigation through Hallucinated Learning and Sober Deployment
Learning from Hallucination (LfH) is a recent machine learning paradigm ...
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08/31/2020
Benchmarking Metric Ground Navigation
Metric ground navigation addresses the problem of autonomously moving a ...
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07/28/2020
Lifelong Navigation
This paper presents a continually self-improving lifelong learning frame...
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07/28/2020
Toward Agile Maneuvers in Highly Constrained Spaces: Learning from Hallucination
While classical approaches to autonomous robot navigation currently enab...
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07/20/2020
Best Viewpoints for External Robots or Sensors Assisting Other Robots
This work creates a model of the value of different external viewpoints ...
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07/19/2020
Risk-aware Path and Motion Planning for a Tethered Aerial Visual Assistant in Unstructured or Confined Environments
This research aims at developing path and motion planning algorithms for...
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03/31/2020
APPLD: Adaptive Planner Parameter Learning from Demonstration
Existing autonomous robot navigation systems allow robots to move from o...
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01/15/2020
Tethered Aerial Visual Assistance
In this paper, an autonomous tethered Unmanned Aerial Vehicle (UAV) is d...
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09/09/2019
Robot Risk-Awareness by Formal Risk Reasoning and Planning
This paper proposes a formal robot motion risk reasoning framework and d...
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09/05/2019
Robot Motion Risk Reasoning Framework
This paper presents a formal and comprehensive reasoning framework for r...
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05/29/2019
ORangE: Operational Range Estimation for Mobile Robot Exploration on a Single Discharge Cycle
This paper presents an approach for estimating the operational range for...
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04/16/2019
Explicit Motion Risk Representation
This paper presents a formal definition and explicit representation of r...
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04/16/2019
Benchmarking Tether-based UAV Motion Primitives
This paper proposes and benchmarks two tether-based motion primitives fo...
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03/29/2019
Autonomous Visual Assistance for Robot Operations Using a Tethered UAV
This paper develops an autonomous tethered aerial visual assistant for r...
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03/07/2019
Explicit-risk-aware Path Planning with Reward Maximization
This paper develops a path planner that minimizes risk (e.g. motion exec...
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11/07/2018
Estimating Achievable Range of Ground Robots Operating on Single Battery Discharge for Operational Efficacy Amelioration
Mobile robots are increasingly being used to assist with active pursuit ...
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11/06/2018