18 papers · ranked by Valyu relevance
Garen Haddeler, Meng Yee (Michael) Chuah, Yangwei You, Jianle Chan + 3 more
'Albertus H. Adiwahono' 'Wei Yun Yau' 'Chee-Meng Chew'] Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our framework integrates…
Jhonghyun An, Man Qi, Matteo Dunnhofer
This study proposes a method for detecting and tracking traversable regions in off-road conditions for unmanned ground vehicles (UGVs). Off-road conditions, such as rough terrain or fields, present significant challenges for UGV navigation, and detecting and tracking traversable regions is essential to ensure safe and…
R. Omar Chavéz-García, Jérôme Guzzi, Luca Maria Gambardella, Alessandro Giusti
'Alessandro Giusti'] Abstract— Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a convolutional neural network that, given an…
Kailun Yang, Kaiwei Wang, Ruiqi Cheng, Weijian Hu + 2 more
'Jian Bai'] The use of RGB-Depth (RGB-D) sensors for assisting visually impaired people (VIP) has been widely reported as they offer portability, function-diversity and cost-effectiveness. However, polarization cues to assist traversability awareness without precautions against stepping into water areas are weak. In…
Amir Gholami, Alejandro Ramirez-Serrano, Jun Chen, Wen-Chiao Lin
This paper presents a comprehensive approach to evaluating the ability of multi-legged robots to traverse confined and geometrically complex unstructured environments. The proposed approach utilizes advanced point cloud processing techniques integrating voxel-filtered cloud, boundary and mesh generation, and dynamic…
Roozbeh Dargazany
— In this paper, an stereo-based traversability analysis approach for all terrains in off-road mobile robotics, e.g. Unmanned Ground Vehicles (UGVs) is proposed. This approach reformulates the problem of terrain traversability analysis into two main problems: (1) 3D terrain reconstruction and (2) terrain all surfaces…
Mohamed Benrabah, Charifou Orou Mousse, Elie Randriamiarintsoa, Roland Chapuis + 3 more
'Roland Chapuis' 'Romuald Aufrère' 'Ryan Wen Liu' 'Fenghua Zhu'] Evaluating the risk associated with operations is an essential element of safe planning and an essential prerequisite in mobile robotics. This issue is very broad, with numerous definitions emerging in the recent literature adapting different application…
Botao He, Amir Hossein Shahidzadeh, Yu Chen, Jiayi Wu + 7 more
— This paper explores traversability estimation for robot navigation. A key bottleneck in traversability estimation lies in efficiently achieving reliable and robust predictions while accurately encoding both geometric and semantic information across diverse environments. We introduce Navigation via Mixture of Experts…
Michael J. Miles, Harel Biggie, Christoffer Heckman
Navigation over torturous terrain such as those in natural subterranean environments presents a significant challenge to field robots. The diversity of hazards, from large boulders to muddy or even partially submerged Earth, eludes complete definition. The challenge is amplified if the presence and nature of these…
Lorenzo Nardi, Cyrill Stachniss
— Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate the problem of navigating in such environments over extended periods of time…
Jing Huang, Hao Su, Kwok Wai Samuel Au
This paper introduces a new paradigm of optimal path planning, i.e., passage-traversing optimal path planning (PTOPP), that optimizes paths' traversed passages for specified optimization objectives. In particular, PTOPP is utilized to find the path with optimal accessible free space along its entire length, which…
Sridhar Ravi, Olivier Bertrand, Tim Siesenop, Lea-Sophie Manz + 3 more
A number of insects fly over long distances below the natural canopy where the physical environment is highly cluttered consisting of obstacles of varying shape, size and texture. While navigating within such environments animals need to perceive and disambiguate environmental features that might obstruct their flight.…
Cheng Peng, Minghan Wei, Volkan Isler
— We introduce a new route-finding problem which considers perception and travel costs simultaneously. Specifically, we consider the problem of finding the shortest tour such that all objects of interest can be detected successfully. To represent a viable detection region for each object, we propose to use an…
Albert S. W. Kang, Janette G. Bernasconi, William Jack, Anastassia Kanavarioti
Nanopores can serve as single molecule sensors. We exploited the MinION, a portable nanopore device from Oxford Nanopore Technologies (ONT), and repurposed it to detect any DNA/RNA oligo (target) in a complex mixture by conducting voltage-driven ion-channel measurements. The detection and quantitation of the target is…
Ahmad Bilal Asghar, Stephen L. Smith
— In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold, then we say that the event is a true event; otherwise it is a false event.…
Bo Gu, Jianfeng Feng, Zhuoyi Song
Detecting looming signals for collision avoidance faces challenges in real-world scenarios due to interference from moving backgrounds. Astonishingly, animals, like insects with limited neural systems, adeptly respond to looming stimuli while moving at high speeds. Existing insect-inspired looming detection models…
Noam Benelli, Roi Gurka, Yiftach Golov, Ally Harari + 2 more
Olfactory navigation in insects, for instance when males search for mates, is a navigational problem of a self-propelled agent with limited sensor capabilities in a scalar field (odor) convected and diffused by turbulent wind. There are numerous navigation strategies proposed to explain the navigation paths of insects…
Meng Jia, Troy Sorensen, Dorit Hammerling
We propose a generic, modular framework to optimize the placement of continuous monitoring sensors on oil and gas sites aiming to maximize the methane emissions detection efficiency. Our proposed framework substantially expands the problem scale compared to previous related studies and can be adapted for different…