17 papers · ranked by Valyu relevance
Gustavo Goretkin, Leslie Pack Kaelbling, Tomás Lozano‐Pérez
This paper addresses the problem of planning for a robot with a directional obstacle-detection sensor that must move through a cluttered environment. The planning objective is to remain safe by finding a path for the complete robot, including sensor, that guarantees that the robot will not move into any part of the…
Qianhao Wang, Yuman Gao, Jialin Ji, Chao Xu + 1 more
— The visibility of targets determines performance and even success rate of various applications, such as active slam, exploration, and target tracking. Therefore, it is crucial to take the visibility of targets into explicit account in trajectory planning. In this paper, we propose a general metric for target…
Tianyu Liu, Qianhao Wang, Xingguang Zhong, Zhepei Wang + 3 more
'Fu Zhang' 'Fei Gao'] Abstract— The visible capability is critical in many robot applications, such as inspection and surveillance, etc. Without the assurance of the visibility to targets, some tasks end up not being complete or even failing. In this paper, we propose a visibility guaranteed planner by star-convex…
Ibrahim Ibrahim, Joris Gillis, Wilm Decré, Jan Swevers
— This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The proposed method evaluates the existence of lines-of-sight from a source point to all other grid cells in a single pass with no preprocessing and independently of the number and shape of obstacles. It has a compute and…
Jose Muguira-Iturralde, Aidan Curtis, Yilun Du, Leslie Pack Kaelbling + 1 more
'Leslie Pack Kaelbling' 'Tomás Lozano‐Pérez'] Abstract— In this paper, we examine the problem of visibilityaware robot navigation among movable obstacles (VANAMO). A variant of the well-known NAMO robotic planning problem, VANAMO puts additional visibility constraints on robot motion and object movability. This new…
Fan Yang, Chao Cao, Hongbiao Zhu, Jean Oh + 1 more
— The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly and constantly, to account for the new observations. In this paper, we present a…
Seongjin Lee, Wonteak Lim, Myoungho Sunwoo, Kichun Jo + 2 more
'Francisco J. Martinez' 'Felipe Jiménez'] Autonomous driving helps drivers avoid paying attention to keeping to a lane or keeping a distance from the vehicle ahead. However, the autonomous driving is limited by the need to park upon the completion of driving. In this sense, automated valet parking (AVP) system is one…
Junbin Yuan, Muqing Cao, Yunwoo Lee, Brady Moon + 1 more
Safe navigation with a body-mounted limited-field-of-view sensor requires the complete robot-inflated volume of an intended motion to be observed and verified free before execution. We formulate this requirement as online safety-volume certification in an unknown voxel map and construct a certified graph whose vertices…
Yikun Huang, Shuyan Xu, Yulin Zhong, Hao Chen + 2 more
The timely removal of crown peppers is a critical agronomic procedure to balance vegetative and reproductive growth. However, automating this task is challenged by severe green-on-green occlusion in dense branching structures and high collision risks within narrow Y-shaped stems. Existing robotic systems suffer from…
Keita Ichihashi, Kaori Fujinami
Augmented Reality (AR) is a class of “mediated reality” that artificially modifies the human perception by superimposing virtual objects on the real world, which is expected to supplement reality. In visual-based augmentation, text and graphics, i.e., label, are often associated with a physical object or a place to…
Chittaranjan Srinivas Swaminathan, Tomasz Piotr Kucner, Martin Magnusson, Luigi Palmieri + 4 more
'Martin Magnusson' 'Luigi Palmieri' 'Sergi Molina' 'Anna Mannucci' 'Federico Pecora' 'Achim J. Lilienthal'] Robots operating with humans in highly dynamic environments need not only react to moving persons and objects but also to anticipate and adhere to patterns of motion of dynamic agents in their environment.…
Jeremy Gordon, John Chuang, Giovanni Pezzulo
The task of planning future actions in the context of an uncertain world results in massive state spaces that preclude exhaustive search and other strategies explored in the domains of both human decision-making and computational agents. One plausible solution to this dimensionality explosion is to decompose the task…
Jeremy Gordon, John Chuang, Giovanni Pezzulo
The task of planning future actions in the context of an uncertain world results in massive state spaces that preclude exhaustive search and other strategies explored in the domains of both human decision-making and computational agents. One plausible solution to this dimensionality explosion is to decompose the task…
Juqi Wei, Hai Wang
Autonomous inspection of discrete obstacles (e.g., tree trunks in orchards and forests) requires UAVs to visit every target with proper observation distance and heading, while simultaneously exploring the unknown environment. Existing space-guided exploration methods focus on eliminating unknown space and are…
Authors not listed
In experimental chemistry, actions are adjusted based on what we see—such as dosing until dissolution, heating until melting, or stirring until mixing is complete. However, current self-driving labs (SDLs) do not monitor these visual cues. HeinSight 4.0 fills this gap by integrating computer vision into SDLs to enable…
Matan Mazor, Nadine Dijkstra, Stephen M. Fleming
A key goal of consciousness science is identifying neural signatures of being aware vs. unaware of simple stimuli. This is often investigated in the context of near-threshold detection, with reports of stimulus awareness being linked to heightened activation in a frontoparietal network. However, due to reports of…
Sachini Weerawardhana, Darrell Whitley, Mark Roberts
When working in an unfamiliar online environment, it can be helpful to have an observer that can intervene and guide a user toward a desirable outcome while avoiding undesirable outcomes or frustration. The Intervention Problem is deciding when to intervene in order to help a user. The Intervention Problem is similar…