Zobrazeno 1 - 10
of 319
pro vyhledávání: '"Kim, Sung Kyun"'
Autor:
Ginting, Muhammad Fadhil, Kim, Dong-Ki, Kim, Sung-Kyun, Krishna, Bandi Jai, Kochenderfer, Mykel J., Omidshafiei, Shayegan, Agha-mohammadi, Ali-akbar
This paper addresses the problem of task planning for robots that must comply with operational manuals in real-world settings. Task planning under these constraints is essential for enabling autonomous robot operation in domains that require adherenc
Externí odkaz:
http://arxiv.org/abs/2411.11323
Autor:
Ginting, Muhammad Fadhil, Kim, Sung-Kyun, Fan, David D., Palieri, Matteo, Kochenderfer, Mykel J., Agha-Mohammadi, Ali-akbar
Publikováno v:
Proc. of Robotics: Science and Systems 2024
This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify the target o
Externí odkaz:
http://arxiv.org/abs/2405.09822
A staircase localization method is proposed for robots to explore urban environments autonomously. The proposed method employs a modular design in the form of a cascade pipeline consisting of three modules of stair detection, line segment detection,
Externí odkaz:
http://arxiv.org/abs/2403.17330
Autor:
Ginting, Muhammad Fadhil, Fan, David D., Kim, Sung-Kyun, Kochenderfer, Mykel J., Agha-mohammadi, Ali-akbar
This paper addresses the problem of autonomous robotic inspection in complex and unknown environments. This capability is crucial for efficient and precise inspections in various real-world scenarios, even when faced with perceptual uncertainty and l
Externí odkaz:
http://arxiv.org/abs/2401.17191
Autor:
Ginting, Muhammad Fadhil, Kim, Sung-Kyun, Peltzer, Oriana, Ott, Joshua, Jung, Sunggoo, Kochenderfer, Mykel J., Agha-mohammadi, Ali-akbar
To achieve autonomy in unknown and unstructured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is crucial for safe and efficient robot navigation in environment with mobility-stressing elem
Externí odkaz:
http://arxiv.org/abs/2304.00645
Autor:
Bouman, Amanda, Ott, Joshua, Kim, Sung-Kyun, Chen, Kenny, Kochenderfer, Mykel J., Lopez, Brett, Agha-mohammadi, Ali-akbar, Burdick, Joel
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated area swep
Externí odkaz:
http://arxiv.org/abs/2302.03164
Autor:
Denniston, Christopher E., Peltzer, Oriana, Ott, Joshua, Moon, Sangwoo, Kim, Sung-Kyun, Sukhatme, Gaurav S., Kochenderfer, Mykel J., Schwager, Mac, Agha-mohammadi, Ali-akbar
In active source seeking, a robot takes repeated measurements in order to locate a signal source in a cluttered and unknown environment. A key component of an active source seeking robot planner is a model that can produce estimates of the signal at
Externí odkaz:
http://arxiv.org/abs/2301.02362
Autor:
Ott, Joshua, Kim, Sung-Kyun, Bouman, Amanda, Peltzer, Oriana, Sobue, Mamoru, Delecki, Harrison, Kochenderfer, Mykel J., Burdick, Joel, Agha-mohammadi, Ali-akbar
Robotic exploration of unknown environments is fundamentally a problem of decision making under uncertainty where the robot must account for uncertainty in sensor measurements, localization, action execution, as well as many other factors. For large-
Externí odkaz:
http://arxiv.org/abs/2209.05580
Autor:
Saboia, Maira, Clark, Lillian, Thangavelu, Vivek, Edlund, Jeffrey A., Otsu, Kyohei, Correa, Gustavo J., Varadharajan, Vivek Shankar, Santamaria-Navarro, Angel, Touma, Thomas, Bouman, Amanda, Melikyan, Hovhannes, Pailevanian, Torkom, Kim, Sung-Kyun, Archanian, Avak, Vaquero, Tiago Stegun, Beltrame, Giovanni, Napp, Nils, Pessin, Gustavo, Agha-mohammadi, Ali-akbar
Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g., subterranean
Externí odkaz:
http://arxiv.org/abs/2206.02245
Autor:
Peltzer, Oriana, Bouman, Amanda, Kim, Sung-Kyun, Senanayake, Ransalu, Ott, Joshua, Delecki, Harrison, Sobue, Mamoru, Kochenderfer, Mykel, Schwager, Mac, Burdick, Joel, Agha-mohammadi, Ali-akbar
We present a method for autonomous exploration of large-scale unknown environments under mission time constraints. We start by proposing the Frontloaded Information Gain Orienteering Problem (FIG-OP) -- a generalization of the traditional orienteerin
Externí odkaz:
http://arxiv.org/abs/2203.06316