Related papers: Streaming Scene Maps for Co-Robotic Exploration in…
For a multi-robot team that collaboratively explores an unknown environment, it is of vital importance that collected information is efficiently shared among robots in order to support exploration and navigation tasks. Practical constraints…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…
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…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…
Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…
In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…
The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…
For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…
Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…
We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…
Autonomous robots frequently need to detect "interesting" scenes to decide on further exploration, or to decide which data to share for cooperation. These scenarios often require fast deployment with little or no training data. Prior work…
This project proposes a bioinspired multi-robot system using Distributed Optimization for efficient exploration and mapping of unknown environments. Each robot explores its environment and creates a map, which is afterwards put together to…
Surveillance and exploration of large environments is a tedious task. In spaces with limited environmental cues, random-like search is an effective approach as it allows the robot to perform online coverage of environments using simple…
This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved problem challenged by communication, power, and compute…