Related papers: 3D Maps Registration and Path Planning for Autonom…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…
One of the most important barriers toward a widespread use of mobile robots in unstructured and human populated work environments is the ability to plan a safe path. In this paper, we propose to delegate this activity to a human operator…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Autonomous navigation of a mobile robot is a challenging task which requires ability of mapping, localization, path planning and path following. Conventional mapping methods build a dense metric map like an occupancy grid, which is affected…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…
This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…
This article proposes a new path planning method for addressing multi-level terrain situations. The proposed method includes innovations in three aspects: 1) the pre-processing of point cloud maps with a multi-level skip-list structure and…
Robot path planning model based on RNN and visual quality evaluation in the context of crowds is analyzed in this paper. Mobile robot path planning is the key to robot navigation and an important field in robot research. Let the motion…
This paper explores a rapid, optimal smooth path-planning algorithm for robots (e.g., autonomous vehicles) in point cloud environments. Derivative maps such as dense point clouds, mesh maps, Octomaps, etc. are frequently used for path…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…