Autonomous Robots最新文献_第2页

Es-cbf: an energy sufficiency extension for sample based path planners to enable long term autonomy Es-cbf：基于样本的路径规划器的能量充分性扩展，以实现长期自治

IF 4.3 3区计算机科学

Autonomous Robots Pub Date : 2025-08-07 DOI: 10.1007/s10514-025-10203-w

Hassan Fouad, Vivek Shankar Varadharajan, Giovanni Beltrame

引用次数: 0

Reconfigurable robot swarms for terrain traversal with passive coupling mechanisms 基于被动耦合机构的地形穿越可重构机器人群

IF 4.3 3区计算机科学

Autonomous Robots Pub Date : 2025-07-31 DOI: 10.1007/s10514-025-10205-8

Sha Yi, Shashwat Singh, Allison Seo, Ryan St. Pierre, Katia Sycara, Zeynep Temel

{"title":"Reconfigurable robot swarms for terrain traversal with passive coupling mechanisms","authors":"Sha Yi, Shashwat Singh, Allison Seo, Ryan St. Pierre, Katia Sycara, Zeynep Temel","doi":"10.1007/s10514-025-10205-8","DOIUrl":"10.1007/s10514-025-10205-8","url":null,"abstract":"<div><p>In biological swarms, army ants and bees have demonstrated the ability to form functional structures for collaborative tasks. Achieving similar functionality with robot swarms requires forming connections between robots using electrical, magnetic, or mechanical means. Our research introduces the PuzzleBots–robot swarms equipped with passive coupling mechanisms that enable collective behavior. These mechanisms leverage the individual mobility and dexterity of each robot to achieve complex assemblies. By coupling together, PuzzleBots can form both rigid and flexible structures that significantly enhance their ability to navigate challenging terrains. Rigid structures offer high load-bearing and transportation capabilities, while flexible structures provide compliance with environmental geometries. We demonstrated that these assembled structures can be precisely controlled using our distributed Model Predictive Control framework. Our results show that passive coupling in robot swarms significantly improves the traversal capability on rough and discontinuous terrains compared with individual robots.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":"49 3","pages":""},"PeriodicalIF":4.3,"publicationDate":"2025-07-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145171347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Wild visual navigation: fast traversability learning via pre-trained models and online self-supervision 野生视觉导航：通过预训练模型和在线自我监督快速遍历学习

IF 4.3 3区计算机科学

Autonomous Robots Pub Date : 2025-07-18 DOI: 10.1007/s10514-025-10202-x

Matias Mattamala, Jonas Frey, Piotr Libera, Nived Chebrolu, Georg Martius, Cesar Cadena, Marco Hutter, Maurice Fallon

{"title":"Wild visual navigation: fast traversability learning via pre-trained models and online self-supervision","authors":"Matias Mattamala, Jonas Frey, Piotr Libera, Nived Chebrolu, Georg Martius, Cesar Cadena, Marco Hutter, Maurice Fallon","doi":"10.1007/s10514-025-10202-x","DOIUrl":"10.1007/s10514-025-10202-x","url":null,"abstract":"<div><p>Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we present Wild Visual Navigation (WVN), an online self-supervised learning system for visual traversability estimation. The system is able to continuously adapt from a short human demonstration in the field, only using onboard sensing and computing. One of the key ideas to achieve this is the use of high-dimensional features from pre-trained self-supervised models, which implicitly encode semantic information that massively simplifies the learning task. Further, the development of an online scheme for supervision generator enables concurrent training and inference of the learned model in the wild. We demonstrate our approach through diverse real-world deployments in forests, parks, and grasslands. Our system is able to bootstrap the traversable terrain segmentation in less than 5 min of in-field training time, enabling the robot to navigate in complex, previously unseen outdoor terrains.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":"49 3","pages":""},"PeriodicalIF":4.3,"publicationDate":"2025-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10514-025-10202-x.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145166899","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Autonomous learning-free grasping and robot-to-robot handover of unknown objects 自主学习抓取和机器人对未知物体的切换

IF 4.3 3区计算机科学

Autonomous Robots Pub Date : 2025-06-28 DOI: 10.1007/s10514-025-10201-y

Yuwei Wu, Wanze Li, Zhiyang Liu, Weixiao Liu, Gregory S. Chirikjian

{"title":"Autonomous learning-free grasping and robot-to-robot handover of unknown objects","authors":"Yuwei Wu, Wanze Li, Zhiyang Liu, Weixiao Liu, Gregory S. Chirikjian","doi":"10.1007/s10514-025-10201-y","DOIUrl":"10.1007/s10514-025-10201-y","url":null,"abstract":"<div><p>In this paper, we propose a learning-free approach for an autonomous robotic system to grasp, hand over, and regrasp previously unseen objects. The proposed framework includes two main components: a novel grasping detector to predict grasping poses directly from the point cloud and a reachability-aware handover planner to select the exchange pose and grasping poses for two robots. In the grasping detection stage, multiple superquadrics are first recovered at different positions within the object, representing the local geometric feature of the object. Our algorithm then exploits the tri-symmetry feature of superquadrics and synthesizes a list of antipodal grasps from each recovered superquadric. An evaluation model is designed to assess and quantify the quality of each grasp candidate. In the handover planning stage, the planner first selects grasping candidates that have high scores and a larger number of collision-free partners. Then the exchange location is computed by utilizing two signed distance fields (SDF) which model the reachability space for the pair of two robots. To evaluate the performance of the proposed method, we first run experiments on isolated and packed scenes to corroborate the effectiveness of our grasping detection method. Then the handover experiments are conducted on a dual-arm system with two 7 degrees of freedom (DoF) manipulators. The results indicate that our method shows better performance compared with the state-of-the-art, without the need for large amounts of training.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":"49 3","pages":""},"PeriodicalIF":4.3,"publicationDate":"2025-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10514-025-10201-y.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145170980","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multi-robot exploration for the CADRE mission CADRE任务的多机器人探索

IF 4.3 3区计算机科学

Autonomous Robots Pub Date : 2025-06-12 DOI: 10.1007/s10514-025-10199-3

Sharan Nayak, Grace Lim, Federico Rossi, Michael Otte, Jean-Pierre de la Croix

{"title":"Multi-robot exploration for the CADRE mission","authors":"Sharan Nayak, Grace Lim, Federico Rossi, Michael Otte, Jean-Pierre de la Croix","doi":"10.1007/s10514-025-10199-3","DOIUrl":"10.1007/s10514-025-10199-3","url":null,"abstract":"<div><p>We present the design, implementation and testing of a multi-robot exploration algorithm for NASA’s upcoming Cooperative Autonomous Distributed Robotic Exploration (CADRE) lunar technology demonstration mission. The CADRE mission, among its various objectives, entails utilizing a trio of autonomous mobile robots to collaboratively explore and construct a map of a designated area of the lunar surface. Given the mission’s inherent constraints, including limited mission duration, constrained power resources, and restricted communication capabilities, we formulate an exploration algorithm to improve exploration efficiency, facilitate equitable workload distribution among individual agents, and minimize inter-robot communication. To achieve these requirements, we employ a semi-centralized exploration algorithm that partitions the unexplored area, regardless of its shape and size, into a series of non-overlapping partitions, assigning each partition to a specific robot for exploration. Each robot autonomously explores its designated region without intervention from other robots. We explore the design space of the proposed algorithm and evaluate its performance under diverse conditions in simulations. Finally, we validate the algorithm’s functionality through two sets of hardware experiments: the first utilizes prototype rovers using a ROS-based navigation software stack for feasibility testing, while the second employs high-fidelity development model rovers running CADRE’s custom flight-software stack for flight-like performance validation. Both sets of experiments are conducted in the Jet Propulsion Laboratory’s lunar-simulated rover testing facilities, demonstrating the algorithm’s robustness and readiness for lunar deployment.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":"49 2","pages":""},"PeriodicalIF":4.3,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145164979","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Effective tracking of unknown clustered targets using a distributed team of mobile robots 使用分布式移动机器人团队有效跟踪未知集群目标

IF 3.7 3区计算机科学

Autonomous Robots Pub Date : 2025-05-24 DOI: 10.1007/s10514-025-10200-z

Jun Chen, Philip Dames, Shinkyu Park

{"title":"Effective tracking of unknown clustered targets using a distributed team of mobile robots","authors":"Jun Chen, Philip Dames, Shinkyu Park","doi":"10.1007/s10514-025-10200-z","DOIUrl":"10.1007/s10514-025-10200-z","url":null,"abstract":"<div><p>Distributed multi-target tracking is a canonical task for multi-robot systems, encompassing applications from environmental monitoring to disaster response to surveillance. In many situations the unknown distribution of the targets in a search area is non-uniform, e.g., herds of animals moving together. This paper develops a novel distributed multi-robot multi-target tracking algorithm to effectively search for and track clustered targets. There are two key features. First, there are two parallel estimators, one to provide the best guess of the current states of targets and a second to provide a coarse, long-term distribution of clusters. Second, robots use the power diagram to divide the search space between agents in a way that effectively trades off between tracking detected targets within high density areas and searching for other potential targets. Extensive simulation experiments demonstrate the efficacy of the proposed method and show that it outperforms other approaches in tracking accuracy of clustered targets while maintain good performance for uniformly distributed targets.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":"49 2","pages":""},"PeriodicalIF":3.7,"publicationDate":"2025-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10514-025-10200-z.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144131723","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

LSF-planner: a visual local planner for legged robots based on ground structure and feature information LSF-planner：基于地面结构和特征信息的有腿机器人视觉局部规划器

IF 3.7 3区计算机科学

Autonomous Robots Pub Date : 2025-05-12 DOI: 10.1007/s10514-025-10195-7

Teng Zhang, Xiangji Wang, Fusheng Zha, Fucheng Liu

{"title":"LSF-planner: a visual local planner for legged robots based on ground structure and feature information","authors":"Teng Zhang, Xiangji Wang, Fusheng Zha, Fucheng Liu","doi":"10.1007/s10514-025-10195-7","DOIUrl":"10.1007/s10514-025-10195-7","url":null,"abstract":"<div><p>Three-dimensional navigation of legged robots is crucial for field exploration and post-disaster rescue. Existing optimization-based local trajectory planners predominantly focus on obstacle avoidance, neglecting negative obstacles (e.g., pits) and varying ground features (e.g., different terrain types). Additionally, non-overlapping areas between the planned space in three-dimensional trajectory planning and the robot’s actual reachable space lead to decision-making issues between crossing and obstacle avoidance, making it challenging to differentiate between passable and hazardous areas, thus impacting navigation safety and stability. To address these limitations, we propose a novel visual local planner, LSF-Planner (Visual Local Planner for Legged Robots Based on Ground Structure and Feature Information). The LSF-Planner employs a multi-layer local perception map that integrates ground feature semantics, sensor range, and negative obstacles (e.g., voids detected by depth sensors) to construct a ground reliability representation. The Label2Grad method is introduced to convert this representation into gradient layers, incorporating a ground reliability penalty function into trajectory optimization. By incorporating constraints on the center of mass height and crossing angles, LSF-Planner effectively differentiates between traversable and hazardous areas. Experimental results show that LSF-Planner significantly outperforms existing methods in 3D trajectory planning, enhancing the navigation performance of legged robots in unstructured environments.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":"49 2","pages":""},"PeriodicalIF":3.7,"publicationDate":"2025-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143938522","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Shortest coordinated motions for square robots 方形机器人的最短协调运动

IF 3.7 3区计算机科学

Autonomous Robots Pub Date : 2025-05-08 DOI: 10.1007/s10514-025-10198-4

Guillermo Esteban, Dan Halperin, Rodrigo I. Silveira

引用次数: 0

FIMD: fast isolated marker detection for UV-based visual relative localisation in agile UAV swarms FIMD：敏捷无人机群中基于uv的视觉相对定位快速隔离标记检测

IF 3.7 3区计算机科学

Autonomous Robots Pub Date : 2025-05-06 DOI: 10.1007/s10514-025-10197-5

Vojtěch Vrba, Viktor Walter, Petr Štěpán, Martin Saska

{"title":"FIMD: fast isolated marker detection for UV-based visual relative localisation in agile UAV swarms","authors":"Vojtěch Vrba, Viktor Walter, Petr Štěpán, Martin Saska","doi":"10.1007/s10514-025-10197-5","DOIUrl":"10.1007/s10514-025-10197-5","url":null,"abstract":"<div><p>A novel approach for the fast onboard detection of isolated markers for visual relative localisation of multiple teammates in agile UAV swarms is introduced in this paper. As the detection forms a key component of real-time localisation systems, a three-fold innovation is presented, consisting of an optimised procedure for CPUs, a GPU shader program, and a functionally equivalent FPGA streaming architecture. For the proposed CPU and GPU solutions, the mean processing time per pixel of input camera frames was accelerated by two to three orders of magnitude compared to the unoptimised state-of-the-art approach. For the localisation task, the proposed FPGA architecture offered the most significant overall acceleration by minimising the total delay from camera exposure to detection results. Additionally, the proposed solutions were evaluated on various 32-bit and 64-bit embedded platforms to demonstrate their efficiency, as well as their feasibility for applications using low-end UAVs and MAVs. Thus, it has become a crucial enabling technology for agile UAV swarming.\u0000</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":"49 2","pages":""},"PeriodicalIF":3.7,"publicationDate":"2025-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10514-025-10197-5.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143913840","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Deadlock-free, safe, and decentralized multi-robot navigation in social mini-games via discrete-time control barrier functions 无死锁，安全，分散的多机器人导航在社交小游戏通过离散时间控制障碍功能

IF 3.7 3区计算机科学

Autonomous Robots Pub Date : 2025-04-20 DOI: 10.1007/s10514-025-10194-8

Rohan Chandra, Vrushabh Zinage, Efstathios Bakolas, Peter Stone, Joydeep Biswas

{"title":"Deadlock-free, safe, and decentralized multi-robot navigation in social mini-games via discrete-time control barrier functions","authors":"Rohan Chandra, Vrushabh Zinage, Efstathios Bakolas, Peter Stone, Joydeep Biswas","doi":"10.1007/s10514-025-10194-8","DOIUrl":"10.1007/s10514-025-10194-8","url":null,"abstract":"<div><p>We present an approach to ensure safe and deadlock-free navigation for decentralized multi-robot systems operating in constrained environments, including doorways and intersections. Although many solutions have been proposed that ensure safety and resolve deadlocks, optimally preventing deadlocks in a minimally invasive and decentralized fashion remains an open problem. We first formalize the objective as a non-cooperative, non-communicative, partially observable multi-robot navigation problem in constrained spaces with multiple conflicting agents, which we term as social mini-games. Formally, we solve a discrete-time optimal receding horizon control problem leveraging control barrier functions for safe long-horizon planning. Our approach to ensuring liveness rests on the insight that <i>there exists barrier certificates that allow each robot to preemptively perturb their state in a minimally-invasive fashion onto liveness sets i.e. states where robots are deadlock-free</i>. We evaluate our approach in simulation as well on physical robots using F1/10 robots, a Clearpath Jackal, as well as a Boston Dynamics Spot in a doorway, hallway, and corridor intersection scenario. Compared to both fully decentralized and centralized approaches with and without deadlock resolution capabilities, we demonstrate that our approach results in safer, more efficient, and smoother navigation, based on a comprehensive set of metrics including success rate, collision rate, stop time, change in velocity, path deviation, time-to-goal, and flow rate.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":"49 2","pages":""},"PeriodicalIF":3.7,"publicationDate":"2025-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10514-025-10194-8.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143850939","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0