9 papers
Decoupling Geometric Planning and Execution in Scalable Multi-Agent Path Finding
Fernando Salanova, Eduardo Montijano, Cristian Mahulea
Multi-Agent Path Finding (MAPF) requires collision-free trajectories for multiple agents on a shared graph, often with the objective of minimizing the sum-of-costs (SOC). Many opti…
TIMID: Time-Dependent Mistake Detection in Videos of Robot Executions
Nerea Gallego, Fernando Salanova, Claudio Mannarano +2
As robotic systems execute increasingly difficult task sequences, so does the number of ways in which they can fail. Video Anomaly Detection (VAD) frameworks typically focus on sin…
EgoMoD: Predicting Global Maps of Dynamics from Local Egocentric Observations
Iacopo Catalano, David Morilla-Cabello, Jorge Pena-Queralta +1
Efficient navigation in dynamic environments requires anticipating how motion patterns evolve beyond the robot's immediate perceptual range, enabling preemptive rather than purely…
CHORAL: Traversal-Aware Planning for Safe and Efficient Heterogeneous Multi-Robot Routing
David Morilla-Cabello, Eduardo Montijano
Monitoring large, unknown, and complex environments with autonomous robots poses significant navigation challenges, where deploying teams of heterogeneous robots with complementary…
Aion: Towards Hierarchical 4D Scene Graphs with Temporal Flow Dynamics
Iacopo Catalano, Eduardo Montijano, Javier Civera +2
Autonomous navigation in dynamic environments requires spatial representations that capture both semantic structure and temporal evolution. 3D Scene Graphs (3DSGs) provide hierarch…
High-Level Multi-Robot Trajectory Planning And Spurious Behavior Detection
Fernando Salanova, Jesús Roche, Cristian Mahulea +1
The reliable execution of high-level missions in multi-robot systems with heterogeneous agents, requires robust methods for detecting spurious behaviors. In this paper, we address…
CineWild: Balancing Art and Robotics for Ethical Wildlife Documentary Filmmaking
Pablo Pueyo, Fernando Caballero, Ana Cristina Murillo +1
Drones, or unmanned aerial vehicles (UAVs), have become powerful tools across domains-from industry to the arts. In documentary filmmaking, they offer dynamic, otherwise unreachabl…
Towards Map-Agnostic Policies for Adaptive Informative Path Planning
Julius Rückin, David Morilla-Cabello, Cyrill Stachniss +2
Robots are frequently tasked to gather relevant sensor data in unknown terrains. A key challenge for classical path planning algorithms used for autonomous information gathering is…
Perceptual Factors for Environmental Modeling in Robotic Active Perception
David Morilla-Cabello, Jonas Westheider, Marija Popovic +1
Accurately assessing the potential value of new sensor observations is a critical aspect of planning for active perception. This task is particularly challenging when reasoning abo…