4 accepted papers
Robotic Assisted Feeding (RAF) addresses the fundamental need for individuals with mobility impairments to regain autonomy in feeding themselves. The goal of RAF is to use a robot arm to acquire and transfer food to individuals from the table. Existing RAF methods primarily focus on solid foods, lea…
Prediction-based active perception has shown the potential to improve the navigation efficiency and safety of the robot by anticipating the uncertainty in the unknown environment. The existing works for 3D shape prediction make an implicit assumption about the partial observations and therefore cann…
Planning a path for a mobile robot typically requires building a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating in an unknown environment, the map built by the robot online may have many as-yet-unknown regions. A conservative planner may avoid such regio…
We propose a risk-aware framework for multi-robot, multi-demand assignment and planning in unknown environments. Our motivation is disaster response and search-and-rescue scenarios where ground vehicles must reach demand locations as soon as possible. We consider a setting where the terrain informat…