4 accepted papers
For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should be able to proactively predict and recover from such failur…
Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by many factors, and could lead to potential collisions when the…
Agile navigation through uncertain and obstacle-rich environments remains a challenging task for autonomous mobile robots (AMR). For most AMR, obstacles are identified using onboard sensors, e.g., lidar or cameras. The effectiveness of these sensors may be severely limited, however, by occlusions in…
Navigation through an occluded environment is a challenging task for autonomous mobile robots (AMR), since they must balance both safety and speed in an attempt to fluidly steer around occlusions in uncertain environments. This is because real world environments have dynamic actors that may be occlu