3 papers
cs.RO2025
Sound Source Localization for Human-Robot Interaction in Outdoor Environments
Victor Liu, Timothy Du, Jordy Sehn +2
This paper presents a sound source localization strategy that relies on a microphone array embedded in an unmanned ground vehicle and an asynchronous close-talking microphone near…
cs.RO2024
Off the Beaten Track: Laterally Weighted Motion Planning for Local Obstacle Avoidance
Jordy Sehn, Timothy D. Barfoot, Jack Collier
We extend the behaviour of generic sample-based motion planners to support obstacle avoidance during long-range path following by introducing a new edge-cost metric paired with a c…
cs.RO2024
Change of Scenery: Unsupervised LiDAR Change Detection for Mobile Robots
Alexander Krawciw, Jordy Sehn, Timothy D. Barfoot
This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of se…