Related papers: Material Mapping in Unknown Environments using Tap…
Localization plays a crucial role in the navigation capabilities of autonomous robots, and while indoor environments can rely on wheel odometry and 2D LiDAR-based mapping, outdoor settings such as agriculture and forestry, present unique…
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…
As the popularity of on-orbit operations grows, so does the need for precise navigation around unknown resident space objects (RSOs) such as other spacecraft, orbital debris, and asteroids. The use of Simultaneous Localization and Mapping…
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. We also employ a professional, static 3D scanner for ground truth…
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…
Compared to conventional decomposition methods that use ellipses or polygons to represent free space, starshaped representation can better capture the natural distribution of sensor data, thereby exploiting a larger portion of traversable…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
We consider how to directly extract a road map (also known as a topological representation) of an initially-unknown 2-dimensional environment via an online procedure that robustly computes a retraction of its boundaries. In this article, we…
Object surface reconstruction brings essential benefits to robot grasping, object recognition, and object manipulation. When measuring the surface distribution of an unknown object by tapping, the greatest challenge is to select tapping…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…
The emergence of mobile robotics, particularly in the automotive industry, introduces a promising era of enriched user experiences and adept handling of complex navigation challenges. The realization of these advancements necessitates a…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
Navigating toy drones through uncharted GPS-denied indoor spaces poses significant difficulties due to their reliance on GPS for location determination. In such circumstances, the necessity for achieving proper navigation is a primary…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…
A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…
This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
Aerial navigation in GPS-denied, indoor environments, is still an open challenge. Drones can perceive the environment from a richer set of viewpoints, while having more stringent compute and energy constraints than other autonomous…