Related papers: Sparse 3D Topological Graphs for Micro-Aerial Vehi…
Robotic mapping is useful in scientific applications that involve surveying unstructured environments. This paper presents a target-oriented mapping system for sparsely distributed geologic surface features, such as precariously balanced…
This paper describes an application of the Cartographer graph SLAM stack as a pose sensor in a UAV feedback control loop, with certain application-specific changes in the SLAM stack such as smoothing of the optimized pose. Pose estimation…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
Efficient data collection methods play a major role in helping us better understand the Earth and its ecosystems. In many applications, the usage of unmanned aerial vehicles (UAVs) for monitoring and remote sensing is rapidly gaining…
Multi-robot path planning is difficult due to the combinatorial explosion of the search space with every new robot added. Complete search of the combined state-space soon becomes intractable. In this paper we present a novel form of…
Given the explosive growth of Internet of Things (IoT) devices ranging from the two-dimensional (2D) ground to the three-dimensional (3D) space, it is a necessity to establish a 3D spectrum map to comprehensively present and effectively…
Accurate mapping of large-scale environments is an essential building block of most outdoor autonomous systems. Challenges of traditional mapping methods include the balance between memory consumption and mapping accuracy. This paper…
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…
Search-based methods that use motion primitives can incorporate the system's dynamics into the planning and thus generate dynamically feasible MAV trajectories that are globally optimal. However, searching high-dimensional state lattices is…
We study the problem of power-efficient routing for multihop wireless ad hoc sensor networks. The guiding insight of our work is that unlike an ad hoc wireless network, a wireless ad hoc sensor network does not require full connectivity…
This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the prior 2D navigation map via SLAM to generate a sequence of…
We present a planning framework designed for humanoid navigation over challenging terrain. This framework is designed to plan a traversable, smooth, and collision-free path using a 2.5D height map. The planner is comprised of two stages.…
The environment of low-altitude urban airspace is complex and variable due to numerous obstacles, non-cooperative aircrafts, and birds. Unmanned aerial vehicles (UAVs) leveraging environmental information to achieve three-dimension…
Scalable and maintainable map representations are fundamental to enabling large-scale visual navigation and facilitating the deployment of robots in real-world environments. While collaborative localization across multi-session mapping…
A robust, resource-efficient, distributed, and minimally parameterized 3D map matching and merging algorithm is proposed. The suggested algorithm utilizes tomographic features from 2D projections of horizontal cross-sections of…
Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…
Autonomous navigation in unknown environments is challenging and demands the consideration of both geometric and semantic information in order to parse the navigability of the environment. In this work, we propose a novel space modeling…
An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable…
We present a cost-efficient and versatile method to map an unknown 3D freeform surface using only sparse measurements while the end-effector of a robotic manipulator moves along the surface. The geometry is locally approximated by a plane,…
The expansion of the low-altitude economy is contingent on reliable cellular connectivity for unmanned aerial vehicles (UAVs). A key challenge in pre-flight planning is predicting communication link quality along proposed and pre-defined…