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We present VISTA (Viewpoint-based Image selection with Semantic Task Awareness), an active exploration method for robots to plan informative trajectories that improve 3D map quality in areas most relevant for task completion. Given an…

The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyond visual line of sight is expected to open important future opportunities in the area of transportation, goods delivery, and system monitoring. A key challenge in…

Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…

The inspection-planning problem calls for computing motions for a robot that allow it to inspect a set of points of interest (POIs) while considering plan quality (e.g., plan length). This problem has applications across many domains where…

The Travelling Salesman Problem (TSP) is a classical combinatorial optimisation problem. Deep learning has been successfully extended to meta-learning, where previous solving efforts assist in learning how to optimise future optimisation…

Planning the path to gather the surface information of the target objects is crucial to improve the efficiency of and reduce the overall cost, for visual inspection applications with Unmanned Aerial Vehicles (UAVs). Coverage Path Planning…

Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…

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…

Perception of traversable regions and objects of interest from a 3D point cloud is one of the critical tasks in autonomous navigation. A ground vehicle needs to look for traversable terrains that are explorable by wheels. Then, to make safe…

Efficiently and completely capturing the three-dimensional data of an object is a fundamental problem in industrial and robotic applications. The task of next-best-view (NBV) planning is to infer the pose of the next viewpoint based on the…

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…

The moving target traveling salesman problem with obstacles (MT-TSP-O) is a generalization of the traveling salesman problem (TSP) where, as its name suggests, the targets are moving. A solution to the MT-TSP-O is a trajectory that visits…

The usage of Unmanned Aerial Vehicles (UAVs) in the context of structural health inspection is recently gaining tremendous popularity. Camera mounted UAVs enable the fast acquisition of a large number of images often used for mapping, 3D…

Designing robust machine learning systems remains an open problem, and there is a need for benchmark problems that cover both environmental changes and evaluation on a downstream task. In this work, we introduce AVOIDDS, a realistic object…

Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles(UAVs). Existing methods, however, are demonstrated to static local optima and two-dimensional exploration. To address these challenges,…

Safety is extremely important for urban flights of autonomous Unmanned Aerial Vehicles (UAVs). Risk-aware path planning is one of the most effective methods to guarantee the safety of UAVs. This type of planning can be represented as a…

Understanding the interdependence between autonomous and human-operated vehicles remains an ongoing challenge, with significant implications for the safety and feasibility of autonomous driving.This interdependence arises from inherent…

In this paper, we consider a new unmanned aerial vehicle (UAV)-assisted oblique image acquisition system where a UAV is dispatched to take images of multiple ground targets (GTs). To study the three-dimensional (3D) UAV trajectory design…

Robotic surgical subtask automation has the potential to reduce the per-patient workload of human surgeons. There are a variety of surgical subtasks that require geometric information of subsurface anatomy, such as the location of tumors,…

Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs). For stable visual navigation, MAVs should generate perception-aware paths which guarantee enough visible landmarks. Many previous works on…