Related papers: Informative Path Planning for Active Field Mapping…
Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower surveys provide geometric coverage guarantees but can waste…
Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…
Informative path planning (IPP) is used to design paths for robotic sensor platforms to extract the best/maximum possible information about a quantity of interest while operating under a set of constraints, such as the dynamic feasibility…
A key problem of robotic environmental sensing and monitoring is that of active sensing: How can a team of robots plan the most informative observation paths to minimize the uncertainty in modeling and predicting an environmental…
This paper addresses multi-robot informative path planning (IPP) for environmental monitoring. The problem involves determining informative regions in the environment that should be visited by robots to gather the most information about the…
Recent research in multi-robot exploration and mapping has focused on sampling environmental fields, which are typically modeled using the Gaussian process (GP). Existing information-theoretic exploration strategies for learning GP-based…
Large-scale spatial data such as air quality, thermal conditions and location signatures play a vital role in a variety of applications. Collecting such data manually can be tedious and labour intensive. With the advancement of robotic…
This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their…
This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface inspection focus on planning a path offline that can provide…
Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localization frameworks. This paper proposes the use of informative…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…
Robotic information gathering (RIG) techniques refer to methods where mobile robots are used to acquire data about the physical environment with a suite of sensors. Informative planning is an important part of RIG where the goal is to find…
In this letter, we present an interactive probabilistic mapping framework for a mobile manipulator picking objects from a pile. The aim is to map the scene, actively decide where to go next and which object to pick, make changes to the…
Aerial robots are increasingly being utilized for environmental monitoring and exploration. However, a key challenge is efficiently planning paths to maximize the information value of acquired data as an initially unknown environment is…
For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…
In this paper, we solve a multi-robot informative path planning (MIPP) task under the influence of uncertain communication and adversarial attackers. The goal is to create a multi-robot system that can learn and unify its knowledge of an…
We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…
In this paper, we introduce an informative path planning (IPP) framework for active classification using unmanned aerial vehicles (UAVs). Our algorithm uses a combination of global viewpoint selection and evolutionary optimization to refine…
Recent trends envisage robots being deployed in areas deemed dangerous to humans, such as buildings with gas and radiation leaks. In such situations, the model of the underlying hazardous process might be unknown to the agent a priori,…