Related papers: Autonomous Navigation of MAVs in Unknown Cluttered…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
Multi-robot collision-free and deadlock-free navigation in cluttered environments with static and dynamic obstacles is a fundamental problem for many applications. We introduce MRNAV, a framework for planning and control to effectively…
Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…
Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital…
Micro aerial vehicles (MAVs) have high potential for information gathering tasks to support situation awareness in search and rescue scenarios. Manually controlling MAVs in such scenarios requires experienced pilots and is error-prone,…
Robotic navigation in unknown, cluttered environments with limited sensing capabilities poses significant challenges in robotics. Local trajectory optimization methods, such as Model Predictive Path Intergal (MPPI), are a promising solution…
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…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and pathplanning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been…
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
Unmanned aerial vehicles (UAV) are commonly used for missions in unknown environments, where an exact mathematical model of the environment may not be available. This paper provides a framework for using reinforcement learning to allow the…
This paper presents our approach to develop a method for an unmanned ground vehicle (UGV) to perform inspection tasks in nuclear environments using rich information maps. To reduce inspectors' exposure to elevated radiation levels, an…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs…
Reasons for mapping an unknown environment with autonomous robots are wide-ranging, but in practice, they are often overlooked when developing planning strategies. Rapid information gathering and comprehensive structural assessment of…
This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…
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…
This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…