Related papers: Mine Tunnel Exploration using Multiple Quadrupedal…
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exploration for quadrupedal robots by creating an end-to-end…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…
Legged robots traversing in confined environments could find their only path is blocked by obstacles. In circumstances where the obstacles are movable, a multilegged robot can manipulate the obstacles using its legs to allow it to continue…
In this paper, we address the problem of autonomous multi-robot mapping, exploration and navigation in unknown, GPS-denied indoor or urban environments using a swarm of robots equipped with directional sensors with limited sensing…
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and…
The graph exploration problem requires a group of mobile robots, initially placed arbitrarily on the nodes of a graph, to work collaboratively to explore the graph such that each node is eventually visited by at least one robot. One…
Multi-robot SLAM aims at localizing and building a map with multiple robots, interacting with each other. In the work described in this article, we analyze the pipeline of a decentralized LiDAR SLAM system to study the current limitations…
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…
So far, planetary surface exploration depends on various mobile robot platforms. The autonomous navigation and decision-making of these mobile robots in complex terrains largely rely on their terrain-aware perception, localization and…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…
Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…
Conventional algorithms in autonomous exploration face challenges due to their inability to accurately and efficiently identify the spatial distribution of convex regions in the real-time map. These methods often prioritize navigation…
Legged robots are popular candidates for missions in challenging terrains due to the wide variety of locomotion strategies they can employ. Terrain classification is a key enabling technology for autonomous legged robots, as it allows the…
Multi-robot exploration is a field which tackles the challenge of exploring a previously unknown environment with a number of robots. This is especially relevant for search and rescue operations where time is essential. Current state of the…
Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…