Core challenges of social robot navigation: A survey
Robot navigation in crowded public spaces is a complex task that requires addressing a
variety of engineering and human factors challenges. These challenges have motivated a …
variety of engineering and human factors challenges. These challenges have motivated a …
Long-range indoor navigation with PRM-RL
Long-range indoor navigation requires guiding robots with noisy sensors and controls
through cluttered environments along paths that span a variety of buildings. We achieve this …
through cluttered environments along paths that span a variety of buildings. We achieve this …
RL-RRT: Kinodynamic motion planning via learning reachability estimators from RL policies
This letter addresses two challenges facing samplingbased kinodynamic motion planning: a
way to identify good candidate states for local transitions and the subsequent …
way to identify good candidate states for local transitions and the subsequent …
Densecavoid: Real-time navigation in dense crowds using anticipatory behaviors
We present DenseCAvoid, a novel algorithm for navigating a robot through dense crowds
and avoiding collisions by anticipating pedestrian behaviors. Our formulation uses visual …
and avoiding collisions by anticipating pedestrian behaviors. Our formulation uses visual …
Certified adversarial robustness for deep reinforcement learning
Abstract Deep Neural Network-based systems are now the state-of-the-art in many robotics
tasks, but their application in safety-critical domains remains dangerous without formal …
tasks, but their application in safety-critical domains remains dangerous without formal …
Learning a state representation and navigation in cluttered and dynamic environments
In this work, we present a learning-based pipeline to realise local navigation with a
quadrupedal robot in cluttered environments with static and dynamic obstacles. Given high …
quadrupedal robot in cluttered environments with static and dynamic obstacles. Given high …
Frozone: Freezing-free, pedestrian-friendly navigation in human crowds
We present Frozone, a novel algorithm to deal with the Freezing Robot Problem (FRP) that
arises when a robot navigates through dense scenarios and crowds. Our method senses …
arises when a robot navigates through dense scenarios and crowds. Our method senses …
Learning local planners for human-aware navigation in indoor environments
Established indoor robot navigation frameworks build on the separation between global and
local planners. Whereas global planners rely on traditional graph search algorithms, local …
local planners. Whereas global planners rely on traditional graph search algorithms, local …
Autonomous social distancing in urban environments using a quadruped robot
Corona Virus Disease 2019 (COVID-19) pandemic has become a global challenge faced by
people all over the world. Social distancing has been proved to be an effective practice to …
people all over the world. Social distancing has been proved to be an effective practice to …
Mapless navigation among dynamics with social-safety-awareness: a reinforcement learning approach from 2d laser scans
We consider the problem of mapless collision-avoidance navigation where humans are
present using 2D laser scans. Our proposed method uses ego-safety to measure collision …
present using 2D laser scans. Our proposed method uses ego-safety to measure collision …