Related papers: A Next-Best-Smell Approach for Remote Gas Detectio…
In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…
Gas source localization (GSL) with an autonomous robot is a problem with many prospective applications, from finding pipe leaks to emergency-response scenarios. In this work, we present a new method to perform GSL in realistic indoor…
Gas source localization is pivotal for the rapid mitigation of gas leakage disasters, where mobile robots emerge as a promising solution. However, existing methods predominantly schedule robots' movements based on reactive stimuli or…
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…
Sensors are routinely mounted on robots to acquire various forms of measurements in spatio-temporal fields. Locating features within these fields and reconstruction (mapping) of the dense fields can be challenging in resource-constrained…
Efficient Gas Source Localization (GSL) in real-world settings is crucial, especially in emergency scenarios. Mobile robots equipped with low-cost, in-situ gas sensors offer a safer alternative to human inspection in hazardous environments.…
Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…
Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop…
Identifying a gas source in turbulent environments presents a significant challenge for critical applications such as environmental monitoring and emergency response. This issue is addressed through an approach that combines distributed IoT…
Today, mobile robots are expected to carry out increasingly complex tasks in multifarious, real-world environments. Often, the tasks require a certain semantic understanding of the workspace. Consider, for example, spoken instructions from…
Coverage problem in wireless sensor networks measures how well a region or parts of it is sensed by the deployed sensors. Definition of coverage metric depends on its applications for which sensors are deployed. In this paper, we introduce…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion,…
With the rapid industrialization and technological advancements, innovative engineering technologies which are cost effective, faster and easier to implement are essential. One such area of concern is the rising number of accidents…
Automated and autonomous industrial inspection is a longstanding research field, driven by the necessity to enhance safety and efficiency within industrial settings. In addressing this need, we introduce an autonomously navigating robotic…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
Environmental disasters such as flash floods are becoming more and more prevalent and carry an increasing burden on human civilization. They are usually unpredictable, fast in development, and extend across large geographical areas. The…
This work discusses a novel method for estimating the location of a gas source based on spatially distributed concentration measurements taken, e.g., by a mobile robot or flying platform that follows a predefined trajectory to collect…