14 accepted papers
Topological mapping offers a compact and robust representation for navigation, but progress in the field is hindered by the lack of standardized evaluation metrics, datasets, and protocols. Existing systems are evaluated in different environments under different criteria, preventing fair and reprodu…
Building upon the foundations laid by our previous work, this paper introduces Arena 4.0, a significant advancement of Arena 3.0 [1], Arena-Bench [2], Arena 1.0 [3], and Arena 2.0 [4]. Arena 4.0 provides three main novel contributions: 1) a generative-model-based world and scenario generation approa
Social navigation has become increasingly important for robots operating in human environments, yet many newly proposed navigation methods remain narrowly tailored or exist only as proof-of-concept prototypes. Building on our previous work with Arena, a social navigation development platform, we now
Building upon the foundations laid by our previous work, this paper introducesArena 5.0, the fifth iteration of our framework for robotics social navigation development and benchmarking. Arena 5.0 provides three main contributions: 1) The complete integration of NVIDIA Isaac Gym, enabling photoreali…
Building upon our previous contributions, this paper introduces Arena 3.0, an extension of Arena-Bench, Arena 1.0, and Arena 2.0 focusing on the development, simulation, and benchmarking of social navigation approaches in collaborative environments. We significantly enhance the realism of human beha…
The ability of a robot to perceive and understand its environment is crucial for its actions and behavior. Humans are adept at using semantic information for object localization and path planning, a skill that robots need to emulate for intelligent adaptation in dynamic settings. Training of the spa…
Following up on our previous works, in this paper, we present Arena-Rosnav 2.0 an extension to our previous works Arena-Bench [1] and Arena-Rosnav [2], which adds a variety of additional modules for developing and benchmarking robotic navigation approaches. The platform is fundamentally restructured
In recent years, mobile robot navigation approaches have become increasingly important due to various application areas ranging from healthcare to warehouse logistics. In particular, Deep Reinforcement Learning approaches have gained popularity for robot navigation but are not easily accessible to n…
The ability to autonomously navigate safely, especially within dynamic environments, is paramount for mobile robotics. In recent years, DRL approaches have shown superior performance in dynamic obstacle avoidance. However, these learning-based approaches are often developed in specially designed sim
Assistance robots have gained widespread attention in various industries such as logistics and human assistance. The tasks of guiding or following a human in a crowded environment such as airports or train stations to carry weight or goods is still an open problem. In these use cases, the robot is n…
Recently, mobile robots have become important tools in various industries, especially in logistics. Deep reinforcement learning emerged as an alternative planning method to replace overly conservative approaches and promises more efficient and flexible navigation. However, deep reinforcement learnin…
Deep Reinforcement Learning has emerged as an efficient dynamic obstacle avoidance method in highly dynamic environments. It has the potential to replace overly conservative or inefficient navigation approaches. However, integrating Deep Reinforcement Learning into existing navigation systems is sti…
The imagination of the surrounding environment based on the experience and semantic cognition has great potential to extend the limited observations to leverage the ability for mapping, collision avoidance and path planning. This paper provides a training-based algorithm for mobile robots to perform…
Augmented Reality and mobile robots are gaining increased attention within industries due to the high potential to make processes cost and time efficient. To facilitate augmented reality, a calibration between the Augmented Reality device and the environment is necessary. This is a challenge when de…