Related papers: Where to Map? Iterative Rover-Copter Path Planning…
This paper focuses on developing new navigation and reconnaissance capabilities for cooperative unmanned systems in uncertain environments. The goal is to design a cooperative multi-vehicle system that can survey an unknown environment and…
Planetary exploration using aerial assets has the potential for unprecedented scientific discoveries on Mars. While NASA's Mars helicopter Ingenuity proved flight in Martian atmosphere is possible, future Mars rotorcraft will require…
Risk to human astronauts and interplanetary distance causing slow and limited communication drives scientists to pursue an autonomous approach to exploring distant planets, such as Mars. A portion of exploration of Mars has been conducted…
Last two decades, the problem of robotic mapping has made a lot of progress in the research community. However, since the data provided by the sensor still contains noise, how to obtain an accurate map is still an open problem. In this…
An indoor robot navigation system is investigated, where an intelligent reflecting surface (IRS) is employed to enhance the connectivity between the access point (AP) and a mobile robotic user. The considered system is optimized for…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
One of the most important barriers toward a widespread use of mobile robots in unstructured and human populated work environments is the ability to plan a safe path. In this paper, we propose to delegate this activity to a human operator…
Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challenge. Given very limited time, existing methods have no strong…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
Autonomous planetary vehicles, also known as rovers, are small autonomous vehicles equipped with a variety of sensors used to perform exploration and experiments on a planet's surface. Rovers work in a partially unknown environment, with…
We consider a cooperative vehicle routing problem for surveillance and reconnaissance missions with communication constraints between the vehicles. We propose a framework which involves a ground vehicle and an aerial vehicle; the vehicles…
Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…
A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…
We claim that navigation in human environments can be viewed as cooperative activity especially in constrained situations. Humans concurrently aid and comply with each other while moving in a shared space. Cooperation helps pedestrians to…
Today, robotics is an auspicious and fast-growing branch of technology that involves the manufacturing, design, and maintenance of robot machines that can operate in an autonomous fashion and can be used in a wide variety of applications…
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our…
In the context of mobile navigation in unstructured environments, the predominant approach entails the avoidance of obstacles. The prevailing path planning algorithms are contingent upon deviating from the intended path for an indefinite…
In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…