16 accepted papers
This paper studies the real-time motion planning problem for steerable-wheeled mobile robots (SWMRs). Despite significant progress in SWMR control, most existing approaches design controllers for specific task scenarios and actuator limitations, and are further restricted to four-wheel rectangular l…
Typical robotic workflows involve deploying applications from servers to robots for testing or distributing validated applications across a fleet to unify capabilities. Because these processes are often slowed by tedious environment configurations, we need a way to improve deployment and development…
Autonomous navigation of ground robots in unstructured 3D environments remains a fundamental challenge, as it requires accommodating dynamic obstacles, non-planar ground, and multi-story structures within a unified framework. In this paper, we propose a versatile navigation framework named FineNav. …
Learning from Demonstrations (LfD) is an attractive paradigm in robot learning, enabling robots to acquire skills by observing human demonstrations without explicit programming. However, existing LfD approaches typically assume that users provide ideal demonstrations, which rarely holds in practice,
The trajectory prediction of N-body systems is of great significance and remains challenging with broad applications across various fields such as physics, chemistry and biology. Recent advances in generative models including flow matching and diffusion models have emerged as effective solutions to …
Odometry estimation remains a critical challenge for wheeled robots, as reducing its drift directly mitigates dependency on external localization systems. This paper proposes a distributed odometry framework for steerable wheels, named ICF-DO, which is applicable to both Steerable Wheeled Mobile Rob
Information gathering focuses on designing strategies for a robot to collect data about a physical process, aiming for accurate field reconstruction. While many recent methods have been proposed to address this problem, they often assume the model of the physical process is a priori known and statio
Learning from Demonstration (LfD) has emerged as a crucial method for robots to acquire new skills. However, when given suboptimal task trajectory demonstrations with shape characteristics reflecting human preferences but subpar dynamic attributes such as slow motion, robots not only need to mimic t
Large language models (LLMs) have demonstrated remarkable capabilities, but their power comes with significant security considerations. While extensive research has been conducted on the safety of LLMs in chat mode, the security implications of their function calling feature have been largely overlo…
We investigate a pursuit-evasion game taking place in an unbounded three-dimensional space, where a flexible pursuer with hybrid dynamics collaborates with a fast pursuer and aims to capture a flexible evader within a finite time. The key feature of this problem lies in the hybrid dynamics of the fl…
The trade-off between computation time and path optimality is a key consideration in motion planning algorithms. While classical sampling based algorithms fall short of computational efficiency in high dimensional planning, learning based methods have shown great potential in achieving time efficien…
Grasping occluded objects in cluttered environments is an essential component in complex robotic manipulation tasks. In this paper, we introduce an AffordanCE-driven Next-Best-View planning policy (ACE-NBV) that tries to find a feasible grasp for target object via continuously observing scenes from…
Patrolling with multiple robots is a challenging task. While the robots collaboratively and repeatedly cover the regions of interest in the environment, their routes should satisfy two often conflicting properties: i) (efficiency) the time intervals between two consecutive visits to the regions are…
Physics engines are essential components in simulating complex robotic systems. The accuracy and computational speed of these engines are crucial for reliable real-time simulation. This letter comprehensively evaluates the performance of five common physics engines, i.e., ODE, Bullet, DART, MuJoCo,
To efficiently generate safe trajectories for an autonomous vehicle in dynamic environments, a layered motion planning method with decoupled path and speed planning is widely used. This paper studies speed planning, which mainly deals with dynamic obstacle avoidance given a planned path. The main ch…
The performance of a camera network monitoring a set of targets depends crucially on the configuration of the cameras. In this paper, we investigate the reconfiguration strategy for the parameterized camera network model, with which the sensing qualities of the multiple targets can be optimized glob…