4 accepted papers
Perception of the local environment is a precondition for mobile robots to navigate safely in dynamic environments. Most robots, i.e., humanoids and smaller wheeled robots rely on planar regions. For humanoids, a simple 2D occupancy map as environment representation on which a path is planned is her…
In many situations, users walk on typical paths between specific destinations at which the service of a mobile robot is needed. Depending on the environment and the paths, step-by-step following of the human might not be the optimal solution since better paths for the robot exist. We propose to perf…
In this paper, we introduce an approach to efficient robot navigation through cluttered indoor environments. We propose to estimate local obstacle densities based on already detected objects and use them to predict traversal costs corresponding to potential obstacles in regions not yet observable by…
To this date, many footstep planning systems rely on external sensors for mapping and traversability analysis or on computationally expensive algorithms that do not allow for real-time calculations. In this paper, we present an approach that analyzes the environment in the vicinity of the robot with