5 accepted papers
A critical use case of SLAM for mobile robots is to support localization during task-directed navigation. Current SLAM benchmarks overlook the importance of repeatability (precision) despite its impact on real-world deployments. TaskSLAM-Bench, a task-driven approach to SLAM benchmarking, addresses
This paper extends the gap-based navigation technique <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Potential Gap</i> with safety guarantees at the local planning level for a kinematic planar nonholonomic robot model, leading to <italic xmlns:mml="
Safe quadrupedal navigation through unknown environments is a challenging problem. This paper proposes a hierarchical vision-based planning framework (GPF-BG) integrating our previous Global Path Follower (GPF) navigation system and a gap-based local planner using Bézier curves, so called BBézier Ga…
This paper explores the use of passive, stereo sensing for vision-based navigation. The traditional approach uses dense depth algorithms, which can be computationally costly or potentially inaccurate. These drawbacks compound when including the additional computational demands associated to the sens…
This letter considers the integration of gap-based local navigation methods with artificial potential field (APF) methods to derive a local planning module, called <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">potential gap</i> , for hierarchical n