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On-line viewpoint and motion planning for efficient visual navigation under uncertainty
1999
Robotics and Autonomous Systems
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This paper proposes an on-line viewpoint planning method for a mobile robot to reach a goal position safely and quickly. ...
The planner works on-line to cope with actual errors. The robot motion is continuously performed with speed control between the planned viewpoints during visual processing. ...
In this paper, we propose an on-line viewpoint and motion planning method for safe and efficient navigation. ...
doi:10.1016/s0921-8890(99)00020-2
fatcat:yepmy2oruzf2jgtgb2fmbkhula
Visually Grounded Task and Motion Planning for Mobile Manipulation
[article]
2022
arXiv
pre-print
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2022 pre-print arXiv:2202.10667v1 fatcat:5mvaqwvyubaa7jkx7ldtxc6ocq
Task and motion planning (TAMP) algorithms aim to help robots achieve task-level goals, while maintaining motion-level feasibility. ...
In this paper, we develop a visual grounding approach to help robots probabilistically evaluate action feasibility, and introduce a TAMP algorithm, called GROP, that optimizes both feasibility and efficiency ...
Peter Stone serves as the Executive Director of Sony AI America and receives financial compensation for this work. ...
arXiv:2202.10667v2
fatcat:6vsdpxcujvgljdbfok7heche2q
Autonomous visual navigation of a mobile robot using a human-guided experience
2002
Robotics and Autonomous Systems
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To realize this navigation strategy, we develop: (1) a method of map generation by integrating multiple observation results considering the uncertainties in observation and motion, (2) a fast robot localization ...
Information on the surrounding environment is necessary for a robot to move autonomously. Many previous robots use a given map and landmarks. ...
., viewpoints), and the information on viewpoints is used for selecting viewing directions in the autonomous navigation phase. ...
doi:10.1016/s0921-8890(02)00237-3
fatcat:2q4k7ofqojamfloctozapsphxy
Recognition-based indoor topological navigation using robust invariant features
2005
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Weighted Zernike moments are used as the feature descriptor and applied to the place recognition. The navigation system is composed of on-line and off-line two stages. ...
which is based on the idea of the visual servoing technique. ...
ACKNOWLEDGMENT This work is partially supported by Ministry of Information and Communications (MIC) and NRL (code# M1-0302-00-0064) of MOST, Korea. ...
doi:10.1109/iros.2005.1545589
dblp:conf/iros/LinKK05
fatcat:lrxwaamzqjdfxc4hopr6htk5sy
Active vision in robotic systems: A survey of recent developments
2011
The international journal of robotics research
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Planning for robot vision is a complex problem for an active system due to its sensing uncertainty and environmental uncertainty. ...
and assembly, localization and mapping, navigation and exploration. ...
The problem is formulated for objects on a plane, where cameras are modeled as line scan cameras, and targets are described as points with unconstrained motion. ...
doi:10.1177/0278364911410755
fatcat:pdpxmt4a5nhdvdojcsassxox6i
Perception‐aware autonomous mast motion planning for planetary exploration rovers
2019
Journal of Field Robotics
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2019 pre-print arXiv:1912.06898v1 fatcat:ryw2enejq5f33izkzjl6m7rsem
This poses a challenge for vision-based navigation on Mars where regions lacking visual texture are prevalent. ...
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. ...
This research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. ...
doi:10.1002/rob.21925
fatcat:rbssaqf475ey7hocwrfd7ffiiq
Information-Driven Path Planning
2021
Current Robotics Reports
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learning can be used to improve the robustness and efficiency of informative path planning in robotics. ...
Recent Findings Machine learning approaches have been introduced to solve the information-driven path planning problem, improving both efficiency and robustness. ...
planning, online planning, and motion with uncertainty. ...
doi:10.1007/s43154-021-00045-6
fatcat:cfnlvoaacjhptlbdtk6fhjm37m
Adaptive robot speed control by considering map and motion uncertainty
2006
Robotics and Autonomous Systems
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This paper describes an adaptive robot speed control method for safe and efficient navigation in unknown environments. Safety and efficiency are usually in a trade-off relationship. ...
Moving fast increases efficiency but decreases safety due to low reliability in localization and environment recognition; moving slowly decreases efficiency but increases safety. ...
An on-line path planning is also necessary in navigation in unknown environments. ...
doi:10.1016/j.robot.2005.09.020
fatcat:vulvqaiubffnjcbygrp6zrg4k4
Robust Vision-only Mobile Robot Navigation with Topological Maps
[chapter]
2008
Motion Planning
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, its flexibility, wide usability, memory-efficiency and ease for map building and path planning. ...
Mobile Robots Motion Planning, New Challenges 64 indoor, outdoor or a combination of both. ...
above, focused on the motion planning problem of mobile ro-bots. ...
doi:10.5772/6019
fatcat:j3if52knzff37pvxnmvqhgioxm
Active Mapping and Robot Exploration: A Survey
2021
Sensors
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Simultaneous localization and mapping responds to the problem of building a map of the environment without any prior information and based on the data obtained from one or more sensors. ...
In most situations, the robot is driven by a human operator, but some systems are capable of navigating autonomously while mapping, which is called native simultaneous localization and mapping. ...
The same map is used for planning safe motions too. ...
doi:10.3390/s21072445
pmid:33918107
fatcat:gdkdn2p2lfe7pfngwec55bxozu
Omnidirectional Vision Based Topological Navigation
[chapter]
2010
Mobile Robots Navigation
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In this work we present a novel system for autonomous mobile robot navigation. ...
The topological nature of the map is similar to the intuitive maps humans use, is memory-efficient and enables fast and simple path planning towards a specified goal. ...
, and the Fund for Scientific Research Flanders (FWO-Vlaanderen, Belgium). ...
doi:10.5772/8989
fatcat:fj44jgrtpzgeteya5uj7bzrl4i
Omnidirectional Vision Based Topological Navigation
2007
International Journal of Computer Vision
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In this work we present a novel system for autonomous mobile robot navigation. ...
The topological nature of the map is similar to the intuitive maps humans use, is memory-efficient and enables fast and simple path planning towards a specified goal. ...
, and the Fund for Scientific Research Flanders (FWO-Vlaanderen, Belgium). ...
doi:10.1007/s11263-006-0025-9
fatcat:j2yz4e752nhofbazsgdjkuk4lu
Developing visual sensing strategies through next best view planning
2009
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
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We propose an approach for acquiring geometric 3D models using cameras mounted on autonomous vehicles and robots. ...
To achieve an efficient goal-driven resource deployment, we develop an incremental approach, which alternates between an accuracy-driven next best view determination and recursive path planning. ...
Simon Julier for the insights used on the proof of Lemma 1. Enrique Dunn was supported by CONACyT foreign posdoctoral visit award No. 82053. ...
doi:10.1109/iros.2009.5354179
dblp:conf/iros/DunnBF09
fatcat:2wib7lbalvcf5gmg65qtvhpo5m
Perception-aware Path Planning
[article]
2017
arXiv
pre-print
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In this paper, we give a double twist to the problem of planning under uncertainty. ...
In this paper, we argue that motion planning for vision-controlled robots should be perception aware in that the robot should also favor texture-rich areas to minimize the localization uncertainty during ...
PLANNING UNDER UNCERTAINTY Thanks to the propagation framework described in the previous sections, we are able to predict the pose uncertainty after sequences of camera motions. ...
arXiv:1605.04151v2
fatcat:mrpgu6f4xvdm3dhdj2qxi4lloq
Explicit-risk-aware Path Planning with Reward Maximization
[article]
2019
arXiv
pre-print
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Other than the visual assistance problem, the proposed framework also provides a new planning paradigm to address minimum-risk planning under dynamical risk and absence of substructure optimality and to ...
This paper develops a path planner that minimizes risk (e.g. motion execution) while maximizing accumulated reward (e.g., quality of sensor viewpoint) motivated by visual assistance or tracking scenarios ...
ACKNOWLEDGMENT This work is supported by NSF 1637955, NRI: A Collaborative Visual Assistant for Robot Operations in Unstructured or Confined Environments. ...
arXiv:1903.03187v1
fatcat:qhvm6qp76rhhtpnztevl7cm3we
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