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Actively Mapping Industrial Structures

Actively Mapping Industrial Structures In the context of robotics, active perceptual planning refers to exploration by a mobile robot equipped with sensors to conduct a survey of an object or environment of interest. It can be of assistance for the regular inspection and monitoring of remote or dangerous facilities such as offshore platforms. Active mapping [...]

By |2020-05-21T15:02:01+01:00May 20th, 2020|DRS, ORI Blog|Comments Off on Actively Mapping Industrial Structures

Visual-Inertial-Kinematic Odometry for Legged Robots (VILENS)

Visual-Inertial-Kinematic Odometry for Legged Robots (VILENS) This blog post provides an overview of our recent ICRA 2020 paper Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry: [bibtex key="2020ICRA_wisth"] This is one paper in a series of works on state estimation described here. Introduction Many [...]

By |2020-05-10T10:22:55+01:00May 7th, 2020|DRS, Legged Robots, ORI Blog, Perception, yr_2020|Comments Off on Visual-Inertial-Kinematic Odometry for Legged Robots (VILENS)

Planning for Multiple Robots in Congested Environments

Planning for Multiple Robots in Congested Environments When most of us plan journeys, chances are at some point we open Google Maps to find an array of colours telling us that we will probably experience traffic at certain points on our journey. This allows us to plan our [...]

By |2020-03-09T10:45:50+00:00March 9th, 2020|GOALS, ORI Blog, yr_2020|Comments Off on Planning for Multiple Robots in Congested Environments

Advanced BIT* (ABIT*): Sampling-Based Planning with Advanced Graph-Search Techniques

Advanced BIT* (ABIT*): Sampling-Based Planning with Advanced Graph-Search Techniques Path planning is the problem of finding a continuous sequence of valid states from a start to a goal specification. Popular approaches in robotics include graph-based searches, such as A* [1], and sampling-based planners, such as Rapidly-exploring Random Trees (RRT) [2]. Both graph- and sampling-based approaches [...]

By |2020-02-24T09:41:42+00:00February 24th, 2020|ESP, ORI Blog, Planning|Comments Off on Advanced BIT* (ABIT*): Sampling-Based Planning with Advanced Graph-Search Techniques

Learning from Demonstration with Minimal Human Effort

Learning from demonstration and reinforcement learning have been applied to many difficult problems in sequential decision making and control. In most settings, it is assumed that the demonstrations available are fixed. In this work, we consider learning from demonstration in the context of shared autonomy...

By |2020-02-10T09:54:44+00:00February 7th, 2020|GOALS, ORI Blog, yr_2020|Comments Off on Learning from Demonstration with Minimal Human Effort

A Weather-proof Vehicle for Long-term Autonomy in Outdoor Environments

Our new all-weather platform pictured outside Blenheim Palace. For more information please take a look at the paper as well as the presentation. This blog post provides an overview of our paper which was recently presented by Stephen Kyberd at the 12th Conference on Field and Service Robotics, Tokyo, Japan – “The Hulk: [...]

By |2019-12-15T12:12:02+00:00October 12th, 2019|Hulk, MRG Highlights, MRG News, ORI Blog|Comments Off on A Weather-proof Vehicle for Long-term Autonomy in Outdoor Environments

Introspective Radar Odometry

How do we know when we don’t know? This is an important question to answer in any situation where we need to navigate through our surroundings, and something any autonomous mobile robot needs to know too. We discuss this introspection capability and its importance to our radar-based navigation algorithms [...]

By |2019-11-21T09:56:10+00:00July 24th, 2019|MRG Highlights, MRG News, ORI Blog|Comments Off on Introspective Radar Odometry

Fast Radar Motion Estimation

Fast Radar Motion Estimation This blog post provides an overview of our paper “Fast Radar Motion Estimation with a Learnt Focus of Attention using Weak Supervision” by Roberto Aldera, Daniele De Martini, Matthew Gadd, and Paul Newman which was recently accepted for publication at the IEEE International Conference on [...]

By |2019-11-21T09:54:57+00:00April 10th, 2019|MRG Highlights, ORI Blog|Comments Off on Fast Radar Motion Estimation

ORI Volunteer at St Paul’s Girls’ School as Robotics Mentor

Over the past few months, one of our 2nd year DPhil students, Mark Finean, has been volunteering as a robotics mentor to a group of girls pursuing their A levels at St Paul’s Girls’ School (SPGS) in London. For a school project, they wished to learn more about robots and investigate how they could [...]

By |2019-04-01T11:15:47+01:00March 29th, 2019|ORI Blog|Comments Off on ORI Volunteer at St Paul’s Girls’ School as Robotics Mentor

ShapeStacks: Giving Robots a Physical Intuition

TLDR: Physical intuition is a human super-power. It enables our superior object manipulation skills which we apply in countless scenarios - from playing with toys to using tools. The ShapeStacks project aims to equip robots with a similar intuition by providing a virtual playground in which robots can acquire [...]

By |2019-11-04T11:24:31+00:00January 16th, 2019|A2I, A2I Highlights, AI, ORI Blog|Comments Off on ShapeStacks: Giving Robots a Physical Intuition