5 papers
Navigating the Crowd: Non-linear MPC with Social Forces Dynamics for Human-Aware Robot Navigation
Stefano Trepella, Andrea Ostuni, Mauro Martini +5
Safe and socially compliant navigation remains a fundamental challenge for autonomous robots operating in human-populated environments. Beyond collision avoidance, robots must anti…
Metrics vs Surveys: An Analysis for Human-Aligned Benchmarking in Social Robot Navigation
Stefano Trepella, Mauro Martini, Noé Pérez-Higueras +4
Social, also called human-aware, navigation is a key challenge for integrating mobile robots into human environments. The evaluation of such systems is complex, as factors such as…
Adaptive Social Force Window Planner with Reinforcement Learning
Mauro Martini, Noé Pérez-Higueras, Andrea Ostuni +3
Human-aware navigation is a complex task for mobile robots, requiring an autonomous navigation system capable of achieving efficient path planning together with socially compliant…
Non-linear Model Predictive Control for Multi-task GPS-free Autonomous Navigation in Vineyards
Matteo Sperti, Marco Ambrosio, Mauro Martini +3
Autonomous navigation is the foundation of agricultural robots. This paper focuses on developing an advanced autonomous navigation system for a rover operating within row-based cro…
GPS-free Autonomous Navigation in Cluttered Tree Rows with Deep Semantic Segmentation
Alessandro Navone, Mauro Martini, Marco Ambrosio +3
Segmentation-based autonomous navigation has recently been presented as an appealing approach to guiding robotic platforms through crop rows without requiring perfect GPS localizat…