Related papers: Self-Exploration in Complex Unknown Environments u…

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 exploration of multi-floor buildings remains challenging for ground robots because conventional 2D and 2.5D maps cannot represent overlapping traversable surfaces such as stairs, ramps, and multiple reachable elevations. This…

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 work focuses on the problem of visual target navigation, which is very important for autonomous robots as it is closely related to high-level tasks. To find a special object in unknown environments, classical and learning-based…

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…

Safe autonomous exploration of unknown environments is an essential skill for mobile robots to effectively and adaptively perform environmental mapping for diverse critical tasks. Due to its simplicity, most existing exploration methods…

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…

In this paper, we propose an integrated framework for the autonomous robotic exploration in indoor environments. Specially, we present a hybrid map, named Semantic Road Map (SRM), to represent the topological structure of the explored…

We introduce a NeRF-based active mapping system that enables efficient and robust exploration of large-scale indoor environments. The key to our approach is the extraction of a generalized Voronoi graph (GVG) from the continually updated…

Performing autonomous exploration is essential for unmanned aerial vehicles (UAVs) operating in unknown environments. Often, these missions start with building a map for the environment via pure exploration and subsequently using (i.e.…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

The capability of autonomous exploration in complex, unknown environments is important in many robotic applications. While recent research on autonomous exploration have achieved much progress, there are still limitations, e.g., existing…

Autonomous 3D environment exploration is a fundamental task for various applications such as navigation. The goal of exploration is to investigate a new environment and build its occupancy map efficiently. In this paper, we propose a new…

This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…

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…

Hierarchical multi-robot exploration commonly decouples frontier allocation from local navigation, which can make the system brittle in dense and dynamic environments. Because the allocator lacks direct awareness of execution difficulty,…

In autonomous robot exploration, the frontier is the border in the world map between the explored space and unexplored space. The frontier plays an important role when deciding where in the environment the robots should go explore next. We…

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.…

In this paper, we propose a method that, given a partial grid map of an indoor environment built by an autonomous mobile robot, estimates the amount of the explored area represented in the map, as well as whether the uncovered part is still…

Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…