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GHACPP: Genetic-based Human-Aware Coverage Path Planning Algorithm for Autonomous Disinfection Robot
Stepan Perminov, Ivan Kalinov, Dzmitry Tsetserukou
Numerous mobile robots with mounted Ultraviolet-C (UV-C) lamps were developed recently, yet they cannot work in the same space as humans without irradiating them by UV-C. This pape…
POA: Passable Obstacles Aware Path-planning Algorithm for Navigation of a Two-wheeled Robot in Highly Cluttered Environments
Alexander Petrovsky, Yomna Youssef, Kirill Myasoedov +4
This paper focuses on Passable Obstacles Aware (POA) planner - a novel navigation method for two-wheeled robots in a highly cluttered environment. The navigation algorithm detects…
LiePoseNet: Heterogeneous Loss Function Based on Lie Group for Significant Speed-up of PoseNet Training Process
Mikhail Kurenkov, Ivan Kalinov, Dzmitry Tsetserukou
Visual localization is an essential modern technology for robotics and computer vision. Popular approaches for solving this task are image-based methods. Nowadays, these methods ha…
MuCaSLAM: CNN-Based Frame Quality Assessment for Mobile Robot with Omnidirectional Visual SLAM
Pavel Karpyshev, Evgeny Kruzhkov, Evgeny Yudin +6
In the proposed study, we describe an approach to improving the computational efficiency and robustness of visual SLAM algorithms on mobile robots with multiple cameras and limited…
GraspLook: a VR-based Telemanipulation System with R-CNN-driven Augmentation of Virtual Environment
Polina Ponomareva, Daria Trinitatova, Aleksey Fedoseev +2
The teleoperation of robotic systems in medical applications requires stable and convenient visual feedback for the operator. The most accessible approach to delivering visual info…
CNN-based Omnidirectional Object Detection for HermesBot Autonomous Delivery Robot with Preliminary Frame Classification
Saian Protasov, Pavel Karpyshev, Ivan Kalinov +4
Mobile autonomous robots include numerous sensors for environment perception. Cameras are an essential tool for robot's localization, navigation, and obstacle avoidance. To process…