Related papers: Revisiting Boustrophedon Coverage Path Planning as…
In this paper, we explore the application of Unmanned Aerial Vehicles (UAVs) in maritime search and rescue (mSAR) missions, focusing on medium-sized fixed-wing drones and quadcopters. We address the challenges and limitations inherent in…
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,…
A tethered marsupial robotics system comprises three components: an Unmanned Ground Vehicle (UGV), an Unmanned Aerial Vehicle (UAV), and a tether connecting both robots. Marsupial systems are highly beneficial in industry as they extend the…
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 study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…
In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradient map to make simple and adaptable cost map. This map can be…
SANDO is a safe trajectory planner for 3D dynamic unknown environments, where obstacle locations and motions are unknown a priori and a collision-free plan can become unsafe at any moment, requiring fast replanning. Existing soft-constraint…
Recent advances in Unmanned Aerial Vehicles (UAVs) have resulted in their quick adoption for wide a range of civilian applications, including precision agriculture, biosecurity, disaster monitoring and surveillance. UAVs offer low-cost…
Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes depends on consistent mapping and pose estimation. However,…
Deploying unmanned aerial vehicle (UAV) networks to provide coverage for outdoor users has attracted great attention during the last decade. However, outdoor coverage is challenging due to the high mobility of crowds and the diverse terrain…
Fixed-wing small uncrewed aerial vehicles (sUAVs) possess the capability to remain airborne for extended durations and traverse vast distances. However, their operation is susceptible to wind conditions, particularly in regions of complex…
Mobile robots hold great promise in reducing the need for humans to perform jobs such as vacuuming, seeding,harvesting, painting, search and rescue, and inspection. In practice, these tasks must often be done without an exact map of the…
Survivors stranded during floods tend to seek refuge on dry land. It is important to search for these survivors and help them reach safety as quickly as possible. The terrain in such situations however, is heavily damaged and restricts 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…
Unmanned Aerial Vehicles (UAVs) are becoming increasingly useful for tasks which require the acquisition of data over large areas. The coverage problem, i.e., the problem of periodically visiting all subregions of an area at a desired…
We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…
Many environments, such as unvisited planetary surfaces and oceanic regions, remain unexplored due to a lack of prior knowledge. Autonomous vehicles must sample upon arrival, process data, and either transmit findings to a teleoperator or…
Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…
Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…
Route planning for multiple Unmanned Aerial Vehicles (UAVs) is a series of translation and rotational steps from a given start location to the destination goal location. The goal of the route planning problem is to determine the most…