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In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a planetary-like research vehicle which allows to test various perception and navigation approaches for specific environment conditions. The possibility of simulating arbitrary sensor setups comprising cameras, LiDARs (Light Detection and Ranging) and IMUs makes Gazebo an excellent resource for rapid prototyping. In this work we evaluate a variety of open-source visual and LiDAR SLAM (Simultaneous Localization and Mapping) algorithms in a simulated Martian environment. Datasets are captured by driving the rover and recording sensors outputs as well as the ground truth for a precise performance evaluation.
This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by exploring a state
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided altogether. To th
We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies are either p
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots get attacke
We present an approach for visualizing mobile robots through an Augmented Reality headset when there is no line-of-sight visibility between the robot and the human. Three elements are visualized in Augmented Reality: 1) Robots 3D model to indicate it