Corpus ID: 211204833

Reactive Navigation in Partially Familiar Planar Environments Using Semantic Perceptual Feedback

@article{Vasilopoulos2020ReactiveNI,
  title={Reactive Navigation in Partially Familiar Planar Environments Using Semantic Perceptual Feedback},
  author={Vasileios Vasilopoulos and Georgios Pavlakos and Karl Schmeckpeper and Kostas Daniilidis and Daniel E. Koditschek},
  journal={ArXiv},
  year={2020},
  volume={abs/2002.08946}
}
  • Vasileios Vasilopoulos, Georgios Pavlakos, +2 authors Daniel E. Koditschek
  • Published in ArXiv 2020
  • Engineering, Computer Science
  • This paper solves the planar navigation problem by recourse to an online reactive scheme that exploits recent advances in SLAM and visual object recognition to recast prior geometric knowledge in terms of an offline catalogue of familiar objects. The resulting vector field planner guarantees convergence to an arbitrarily specified goal, avoiding collisions along the way with fixed but arbitrarily placed instances from the catalogue as well as completely unknown fixed obstacles so long as they… CONTINUE READING

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