Related papers: Sparse 3D Topological Graphs for Micro-Aerial Vehi…

We consider a scenario where an UAV-mounted flying base station is providing data communication services to a number of radio nodes spread over the ground. We focus on the problem of resource-constrained UAV trajectory design with (i)…

In this paper we investigate the problem of using a UAV to provide current map information of the environment in front of a moving ground vehicle. We propose a simple coverage plan called a conformal lawn mower plan that enables a UAV to…

This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…

3D scene graphs (3DSGs) are an emerging description; unifying symbolic, topological, and metric scene representations. However, typical 3DSGs contain hundreds of objects and symbols even for small environments; rendering task planning on…

Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…

Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…

Reliable localization is an essential capability for marine robots navigating in GPS-denied environments. SLAM, commonly used to mitigate dead reckoning errors, still fails in feature-sparse environments or with limited-range sensors. Pose…

This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…

Aerial robots play a vital role in various applications where the situational awareness of the robots concerning the environment is a fundamental demand. As one such use case, drones in GPS-denied environments require equipping with…

Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…

We present a method for scalable and fully 3D magnetic field simultaneous localisation and mapping (SLAM) using local anomalies in the magnetic field as a source of position information. These anomalies are due to the presence of…

Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…

Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…

3D Scene Graphs integrate both metric and semantic information, yet their structure remains underutilized for improving path planning efficiency and interpretability. In this work, we present S-Path, a situationally-aware path planner that…

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…

In this paper we study the problem of steering a team of Unmanned Aerial Vehicles (UAVs) toward a static configuration which maximizes the visibility of a 3D environment. The UAVs are assumed to be equipped with visual sensors constrained…

Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous…

We would like robots to be able to safely navigate at high speed, efficiently use local 3D information, and robustly plan motions that consider pose uncertainty of measurements in a local map structure. This is hard to do with previously…

Planning a safe and feasible trajectory for autonomous vehicles in real-time by fully utilizing perceptual information in complex urban environments is challenging. In this paper, we propose a spatio-temporal trajectory planning method…

Monocular visual SLAM has become an attractive practical approach for robot localization and 3D environment mapping, since cameras are small, lightweight, inexpensive, and produce high-rate, high-resolution data streams. Although numerous…