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A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
Pages
About Me
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Posts
Future Blog Post
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Blog Post number 4
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Blog Post number 3
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Blog Post number 2
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Blog Post number 1
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portfolio
Computational Fluid Dynamics Using Smart Proxy Models
Implementation of Smart Proxy Models in predicting the fluid velocity field of an indoor enviornment
Investigation of AI techniques to dectect MS
Implementation of various machine learning techniques to dectect MS in data and images
publications
Arena-Bench: A Benchmarking Suite for Obstacle Avoidance Approaches in Highly Dynamic Environments
Published in Robotics and Automation Letters (RA-L), 2022
The ability to autonomously navigate safely, especially within dynamic environments, is paramount for mobile robotics. In recent years, DRL approaches have shown superior performance in dynamic obstacle avoidance. However, these learning-based approaches are often developed in specially designed simulation environments and are hard to test against conventional planning approaches. Furthermore, the integration and deployment of these approaches into real robotic platforms are not yet completely solved. In this paper, we present Arena-bench, a benchmark suite to train, test, and evaluate navigation planners on different robotic platforms within 3D environments. It provides tools to design and generate highly dynamic evaluation worlds, scenarios, and tasks for autonomous navigation and is fully integrated into the robot operating system. To demonstrate the functionalities of our suite, we trained a DRL agent on our platform and compared it against a variety of existing different model-based and learning-based navigation approaches on a variety of relevant metrics. Finally, we deployed the approaches towards real robots and demonstrated the reproducibility of the results.
Recommended citation: L. Kastner et. al. (2022) "Arena-Bench: A Benchmarking Suite for Obstacle Avoidance Approaches in Highly Dynamic Environments" Robotics and Automation Letters. https://arxiv.org/abs/2206.05728
talks
Talk 1 on Relevant Topic in Your Field
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Conference Proceeding talk 3 on Relevant Topic in Your Field
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This is a description of your conference proceedings talk, note the different field in type. You can put anything in this field.
teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
This is a description of a teaching experience. You can use markdown like any other post.
Teaching experience 2
Workshop, University 1, Department, 2015
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