7 papers · 1 filter
Arena 4.0: A Comprehensive ROS2 Development and Benchmarking Platform for Human-centric Navigation Using Generative-Model-based Environment Generation
Volodymyr Shcherbyna1, Linh Kästner, Diego Diaz +7
Building on the foundations of our previous work, this paper introduces Arena 4.0, a significant advancement over Arena 3.0, Arena-Bench, Arena 1.0, and Arena 2.0. Arena 4.0 offers…
Enhancing Navigational Safety in Crowded Environments using Semantic-Deep-Reinforcement-Learning-based Navigation
Linh Kästner, Junhui Li, Zhengcheng Shen +1
Intelligent navigation among social crowds is an essential aspect of mobile robotics for applications such as delivery, health care, or assistance. Deep Reinforcement Learning emer…
Connecting Deep-Reinforcement-Learning-based Obstacle Avoidance with Conventional Global Planners using Waypoint Generators
Linh Kästner, Teham Buiyan, Xinlin Zhao +3
Deep Reinforcement Learning has emerged as an efficient dynamic obstacle avoidance method in highly dynamic environments. It has the potential to replace overly conservative or ine…
Spatial Imagination With Semantic Cognition for Mobile Robots
Zhengcheng Shen, Linh Kästner, Jens Lambrecht
The imagination of the surrounding environment based on experience and semantic cognition has great potential to extend the limited observations and provide more information for ma…
Arena-Rosnav: Towards Deployment of Deep-Reinforcement-Learning-Based Obstacle Avoidance into Conventional Autonomous Navigation Systems
Linh Kästner, Teham Buiyan, Xinlin Zhao +3
Recently, mobile robots have become important tools in various industries, especially in logistics. Deep reinforcement learning emerged as an alternative planning method to replace…
Deep-Reinforcement-Learning-Based Semantic Navigation of Mobile Robots in Dynamic Environments
Linh Kästner, Cornelius Marx, Jens Lambrecht
Mobile robots have gained increased importance within industrial tasks such as commissioning, delivery or operation in hazardous environments. The ability to autonomously navigate…