NAMOUnc: Navigation Among Movable Obstacles with Decision Making on Uncertainty Interval

Kai Zhang, Kai Zhang, Kai Zhang, Eric Lucet, Julien Alexandre Dit Sandretto, Shoubin Chen, David Filliat

2025

Abstract

Navigation among movable obstacles (NAMO) is a critical task in robotics, often challenged by real-world uncertainties such as observation noise, model approximations, action failures, and partial observability. Existing solutions frequently assume ideal conditions, leading to suboptimal or risky decisions. This paper introduces NAMOUnc, a novel framework designed to address these uncertainties by integrating them into the decision-making process. We first estimate them and compare the corresponding time cost intervals for removing and bypassing obstacles, optimizing both the success rate and time efficiency, ensuring safer and more efficient navigation. We validate our method through extensive simulations and real-world experiments, demonstrating significant improvements over existing NAMO frameworks. More details can be found in our website: https://kai-zhang-er.github.io/namo-uncertainty/.

Paper Citation

in Harvard Style

Zhang K., Lucet E., Sandretto J., Chen S. and Filliat D. (2025). NAMOUnc: Navigation Among Movable Obstacles with Decision Making on Uncertainty Interval. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 139-149. DOI: 10.5220/0013806300003982

in Bibtex Style

@conference{icinco25,
author={Kai Zhang and Eric Lucet and Julien Sandretto and Shoubin Chen and David Filliat},
title={NAMOUnc: Navigation Among Movable Obstacles with Decision Making on Uncertainty Interval},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={139-149},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013806300003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - NAMOUnc: Navigation Among Movable Obstacles with Decision Making on Uncertainty Interval
SN - 978-989-758-770-2
AU - Zhang K.
AU - Lucet E.
AU - Sandretto J.
AU - Chen S.
AU - Filliat D.
PY - 2025
SP - 139
EP - 149
DO - 10.5220/0013806300003982
PB - SciTePress