Nomad: Goal masked diffusion policies for navigation and exploration
Robotic learning for navigation in unfamiliar environments needs to provide policies for both
task-oriented navigation (ie, reaching a goal that the robot has located), and task-agnostic …
task-oriented navigation (ie, reaching a goal that the robot has located), and task-agnostic …
[PDF][PDF] Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping.
We propose an information-theoretic planning approach that enables mobile robots to
autonomously construct dense 3D maps in a computationally efficient manner. Inspired by …
autonomously construct dense 3D maps in a computationally efficient manner. Inspired by …
Rapid exploration for open-world navigation with latent goal models
We describe a robotic learning system for autonomous exploration and navigation in
diverse, open-world environments. At the core of our method is a learned latent variable …
diverse, open-world environments. At the core of our method is a learned latent variable …
Viking: Vision-based kilometer-scale navigation with geographic hints
Robotic navigation has been approached as a problem of 3D reconstruction and planning,
as well as an end-to-end learning problem. However, long-range navigation requires both …
as well as an end-to-end learning problem. However, long-range navigation requires both …
Distributed on-line dynamic task assignment for multi-robot patrolling
Multi-robot patrolling is a key feature for various applications related to surveillance and
security, and it has been studied from several different perspectives, ranging from …
security, and it has been studied from several different perspectives, ranging from …
Speeding-up robot exploration by exploiting background information
The ability to autonomously learn a model of an environment is an important capability of a
mobile robot. In this paper, we investigate the problem of exploring a scene given …
mobile robot. In this paper, we investigate the problem of exploring a scene given …
Robust exploration and homing for autonomous robots
The ability to explore an unknown environment is an important prerequisite for building truly
autonomous robots. Two central capabilities for autonomous exploration are the selection of …
autonomous robots. Two central capabilities for autonomous exploration are the selection of …
FSMI: Fast computation of Shannon mutual information for information-theoretic mapping
Exploration tasks are embedded in many robotics applications, such as search and rescue
and space exploration. Information-based exploration algorithms aim to find the most …
and space exploration. Information-based exploration algorithms aim to find the most …
Predictive exploration considering previously mapped environments
DP Ström, F Nenci, C Stachniss - 2015 IEEE international …, 2015 - ieeexplore.ieee.org
The ability to explore an unknown environment is an important prerequisite for building truly
autonomous robots. The central decision that a robot needs to make when exploring an …
autonomous robots. The central decision that a robot needs to make when exploring an …
[HTML][HTML] Occupancy Grid Mapping via Resource-Constrained Robotic Swarms: A Collaborative Exploration Strategy
A Rogers, K Eshaghi, G Nejat, B Benhabib - Robotics, 2023 - mdpi.com
This paper addresses the problem of building an occupancy grid map of an unknown
environment using a swarm comprising resource-constrained robots, ie, robots with limited …
environment using a swarm comprising resource-constrained robots, ie, robots with limited …