Related papers: Actively Mapping Industrial Structures with Inform…
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…
Autonomous navigation in unfamiliar environments requires robots to simultaneously explore, localise, and plan under uncertainty, without relying on predefined maps or extensive training. We present Active Inference MAPping and Planning…
In this work we present a fast occupancy map building approach based on the VDB datastructure. Existing log-odds based occupancy mapping systems are often not able to keep up with the high point densities and framerates of modern sensors.…
We address the problem of autonomous exploration and mapping for a mobile robot using visual inputs. Exploration and mapping is a well-known and key problem in robotics, the goal of which is to enable a robot to explore a new environment…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop…
This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
The Next Best View (NBV) problem is a pivotal challenge in 3D robotic scanning, with the potential to significantly improve the efficiency of object capture and reconstruction. Existing methods for determining the NBV often overlook view…
Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…
Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…
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 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…
Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently arise during plan execution, such as jamming doors and fallen…
In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…
Existing view planning systems either adopt an iterative paradigm using next-best views (NBV) or a one-shot pipeline relying on the set-covering view-planning (SCVP) network. However, neither of these methods can concurrently guarantee both…
We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Building structures can allow a robot to surmount large obstacles, expanding the set of areas it can reach. This paper presents a planning algorithm to automatically determine what structures a construction-capable robot must build in order…