23 papers · ranked by Valyu relevance
Jianwei Zhao, Jianhua Fang, Shouzhong Wang, Kun Wang + 7 more
'Chengxiang Liu' 'Tao Han' 'Anastassia Angelopoulou' 'Jude Hemanth' 'Peter M. Roth' 'Epameinondas Kapetanios' 'Jose Garcia Rodriguez'] The existing ultrasonic obstacle avoidance robot only uses an ultrasonic sensor in the process of obstacle avoidance, which can only be avoided according to the fixed obstacle avoidance…
Cezary Kownacki, Leszek Ambroziak, Arturo de la Escalera Hueso
The ability of autonomous flight with obstacle avoidance should be a fundamental feature of all modern unmanned aerial vehicles (UAVs). The complexity and difficulty of such a task, however, significantly increase in cases combining moving obstacles and nonholonomic UAVs. Additionally, since they assume the symmetrical…
Aisha Muhammad, Mohammed A. H. Ali, Sherzod Turaev, Rawad Abdulghafor + 7 more
'Rawad Abdulghafor' 'Ibrahim Haruna Shanono' 'Zaid Alzaid' 'Abdulrahman Alruban' 'Rana Alabdan' 'Ashit Kumar Dutta' 'Sultan Almotairi' 'Gregor Klancar'] This paper aims to develop a new mobile robot path planning algorithm, called generalized laser simulator (GLS), for navigating autonomously mobile robots in the…
Nanxi Yi, Zhixian Liu, Xiaofang Yuan, Praveen Kumar Donta
One of the primary challenges for autonomous vehicle (AV) is planning a collision-free path in dynamic environment. It is a tricky task for achieving high-performance obstacle avoidance with velocity-varying obstacle. To solve this problem, a highly smooth and parameter independent obstacle avoidance method for…
Ayoosh Bansal, Hunmin Kim, Simon C.H. Yu, Bo Li + 3 more
'Marco Caccamo' 'Lui Sha'] Abstract—Perception of obstacles remains a critical safety concern for autonomous vehicles. Real-world collisions have shown that the autonomy faults leading to fatal collisions originate from obstacle existence detection. Open source autonomous driving implementations show a perception…
Michael Sidikpramana, Keaton Jones, Cristopher M. Niell
In natural environments, animals must effectively maneuver around obstacles to reach goals such as food or shelter. Recent work has demonstrated that laboratory mice use vision for naturalistic behavior such as prey capture, escape, and distance estimation. However, it is unknown to what extent mice use vision relative…
Shan Zhong, Nader Pouratian, Paul Schrater, Vassilios Christopoulos
Action selection in cluttered environments, where individuals must simultaneously pursue goals and avoid obstacles, presents a significant challenge for the brain. To understand the underlying mechanisms of action selection in such contexts, we propose a computational model that extends stochastic optimal control…
Long Di, Naiwei Huang, Jiaqi He, Xuxiang Wu + 4 more
'Yongbin Su' 'Tundong Liu' 'Zeashan Hameed Khan'] Ensuring that a robot employing demonstration learning models can simultaneously achieve accurate trajectory tracking of demonstrated paths and effective avoidance of moving obstacles in dynamic environments remains a critical research challenge. This paper proposes a…
Caroline H. Brighton, James A. Kempton, Lydia A. France, Marco KleinHeerenbrink + 2 more
Collision avoidance [1–4] and target pursuit [5–8] are challenging flight behaviors for any animal or autonomous vehicle, but their interaction is even more so [9–11]. For predators adapted to hunting in clutter, the demands of these two tasks may conflict, requiring effective reconciliation to avoid a hazardous…
Asher Stern, Zvi Shiller
— This paper introduces a novel approach for robot navigation in challenging dynamic environments. The proposed method builds upon the concept of Velocity Obstacles (VO) that was later extended to Nonlinear Velocity Obstacles (NLVO) to account for obstacles moving along nonlinear trajectories. The NLVO is extended in…
Hideki Tamura, Tatsuto Yamauchi, Shigeki Nakauchi, Tetsuto Minami
As urban development toward smart cities continues in earnest, pedestrians’ chances of encountering autonomous mobile robots (AMRs) on the street increase. Although recent studies have discussed how humans avoid collisions with others when passing them, it is still unclear how they would avoid AMRs, which could be…
Christopher Morency, Daniel J. Stilwell, Stephen Krauss
In this paper, we seek to evaluate the effectiveness of a novel forward-looking sonar system with a limited number of beams for collision avoidance for small autonomous underwater vehicles (AUVs). We present a collision avoidance strategy specifically designed for a novel forward-looking sonar system based on posterior…
Asher Stern, Zvi Shiller
— This paper addresses the issue of motion planning in dynamic environments by extending the concept of Velocity Obstacle (VO) [1] and Nonlinear Velocity Obstacle (NLVO) [2] to Acceleration Obstacle (AO) and Nonlinear Acceleration Obstacle (NAO). Similarly to VO and NLVO, the AOand NAO represent the set of colliding…
Zoltán Gyenes, Ladislau Bölöni, Emese Gincsainé Szádeczky-Kardoss, Adam Ziębiński
'Adam Ziębiński'] Despite significant progress in robot hardware, the number of mobile robots deployed in public spaces remains low. One of the challenges hindering a wider deployment is that even if a robot can build a map of the environment, for instance through the use of LiDAR sensors, it also needs to calculate…
Wenbo Li, Junting Qiu, Javier Prieto, Mohammad Osman Tokhi
The automated guided vehicle (AGV) is widely used in industrial environments for goods transportation. However, issues such as mechanical wear, reduced battery life, navigation error accumulation, and decreased operational efficiency caused by frequent starts and stops need to be addressed. This paper proposes an…
Mohammadamin Nikmanesh, Michael E. Cinelli, Daniel S. Marigold
Busy walking paths, like in a park, a sidewalk in a city centre, or a shopping mall, frequently necessitate collision avoidance behaviour. Lab-based research has shown how a variety of situation-specific factors (e.g., distraction, object/pedestrian proximity) and person-specific factors (e.g., pedestrian size, age)…
Elena Stracca, Olga Napolitano, Lucia Pallottino, Paolo Salaris + 3 more
Achieving safe and efficient navigation in cluttered and dynamic environments remains an open challenge for mobile robots, especially when perception and actuation are uncertain. Standard navigation stacks typically handle obstacle avoidance through fixed safety margins or costmap inflation layers. While effective in…
Senthil Hariharan Arul, Jong Jin Park, Dinesh Manocha
— We present an algorithm for safe robot navigation in complex dynamic environments using a variant of model predictive equilibrium point control. We use an optimization formulation to navigate robots gracefully in dynamic environments by optimizing over a trajectory cost function at each timestep. We present a novel…
Christopher Morency, Daniel J. Stilwell
— We seek to rigorously evaluate the benefit of using a few beams rather than a single beam for a low-cost obstacle avoidance sonar for small AUVs. For a small low-cost AUV, the complexity, cost, and volume required for a multi-beam forward looking sonar are prohibitive. In contrast, a single-beam system is relatively…
Authors not listed
This research presents a novel approach to obstacle detection during navigation using a combination of Convolutional Neural Networks (CNNs) and Long Short-Term Memory (LSTM) networks. The primary objective is to generate accurate image captions that describe the content of images, which is crucial for applications such…
Xinyi Wang, Taekyung Kim, Bardh Hoxha, Georgios Fainekos + 1 more
'Dimitra Panagou'] Abstract— 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 Function (CVaR-BF), where the risk level is automatically…
Lukas Küng, Silvan Aeschlimann, Charithea Charalambous, Fergus McIlwaine + 8 more
Direct air carbon capture and storage (DACCS) involves a set of approaches for capturing CO2 directly from the air and its subsequent long-term storage. DACCS is at an early stage of technical development and currently faces a variety of challenges, including high cost and energy requirements. Building on publicly…
Lukas Küng, Silvan Aeschlimann, Charithea Charalambous, Fergus McIlwaine + 8 more
Direct air carbon capture and storage (DACCS) involves a set of approaches for capturing CO2 directly from the air and its subsequent long-term storage. DACCS is at an early stage of technical development and currently faces a variety of challenges, including high cost and energy requirements. Building on publicly…