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On-line viewpoint and motion planning for efficient visual navigation under uncertainty

Inhyuk Moon, Jun Miura, Yoshiaki Shirai
1999 Robotics and Autonomous Systems  
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]

Xiaohan Zhang, Yifeng Zhu, Yan Ding, Yuke Zhu, Peter Stone, Shiqi Zhang
2022 arXiv   pre-print
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

Kiyosumi Kidono, Jun Miura, Yoshiaki Shirai
2002 Robotics and Autonomous Systems  
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

Zhe Lin, Sungho Kim, In So Kweon
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
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

Shengyong Chen, Youfu Li, Ngai Ming Kwok
2011 The international journal of robotics research  
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

Jared Strader, Kyohei Otsu, Ali‐akbar Agha‐mohammadi
2019 Journal of Field Robotics  
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

Shi Bai, Tixiao Shan, Fanfei Chen, Lantao Liu, Brendan Englot
2021 Current Robotics Reports  
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

Jun Miura, Yoshiro Negishi, Yoshiaki Shirai
2006 Robotics and Autonomous Systems  
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]

Toon Goedeme, Luc Van
2008 Motion Planning  
, 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

Iker Lluvia, Elena Lazkano, Ander Ansuategi
2021 Sensors  
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]

Toon Goedeme, Luc Van
2010 Mobile Robots Navigation  
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

Toon Goedemé, Marnix Nuttin, Tinne Tuytelaars, Luc Van Gool
2007 International Journal of Computer Vision  
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

Enrique Dunn, Jur van den Berg, Jan-Michael Frahm
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
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]

Gabriele Costante, Christian Forster, Jeffrey Delmerico, Paolo Valigi, Davide Scaramuzza
2017 arXiv   pre-print
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]

Xuesu Xiao, Jan Dufek, Robin Murphy
2019 arXiv   pre-print
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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