The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures is dealt with view-planning being addressed by map-based approaches. In this article, we propose a novel approach towards effective use of Micro Aerial Vehicles (MAVs) for obtaining a 3-D shape of an unknown structure of objects utilizing a map-independent planning framework. The problem is undertaken via a bifurcated approach to address the task of executing a closer inspection of detected structures with a wider exploration strategy to identify and locate nearby structures, while being equipped with limited sensing capability. The proposed framework is evaluated experimentally in a controlled indoor environment in presence of a mock-up environment validating the efficacy of the proposed inspect-explore policy.
@article{arxiv.2309.00535,
title = {Towards a Reduced Dependency Framework for Autonomous Unified Inspect-Explore Missions},
author = {Vignesh Kottayam Viswanathan and Sumeet Gajanan Satpute and Ali-akbar Agha-mohammadi and George Nikolakopoulos},
journal= {arXiv preprint arXiv:2309.00535},
year = {2023}
}