Related papers: Autonomous Outdoor Scanning via Online Topological…
Walking in a Virtual Environment is a bounded task. It is challenging for a subject to navigate a large virtual environment designed in a limited physical space. External hardware support may be required to achieve such an act in a concise…
The automation of data collection via mobile robots holds promise for increasing the efficacy of environmental investigations, but requires the system to autonomously determine how to sample the environment while avoiding obstacles.…
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…
In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
High definition (HD) maps have demonstrated their essential roles in enabling full autonomy, especially in complex urban scenarios. As a crucial layer of the HD map, lane-level maps are particularly useful: they contain geometrical and…
The automatic inspection of surface defects is an important task for quality control in the computers, communications, and consumer electronics (3C) industry. Conventional devices for defect inspection (viz. line-scan sensors) have a…
Scene graphs have emerged as a powerful tool for robots, providing a structured representation of spatial and semantic relationships for advanced task planning. Despite their potential, conventional 3D indoor scene graphs face critical…
3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and…
Driving energy consumption plays a major role in the navigation of mobile robots in challenging environments, especially if they are left to operate unattended under limited on-board power. This paper reports on first results of an…
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…
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…
Autonomous exploration in complex and cluttered environments is essential for various applications. However, there are many challenges due to the lack of global heuristic information. Existing exploration methods suffer from the repeated…
The path planning problem for autonomous exploration of an unknown region by a robotic agent typically employs frontier-based or information-theoretic heuristics. Frontier-based heuristics typically evaluate the information gain of a…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
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 addresses the problem of active 3D mapping, where an agent must find an efficient trajectory to exhaustively reconstruct a new scene. Previous approaches mainly predict the next best view near the agent's location, which is prone…
In this paper, we present an innovative technique for the path planning of flying robots in a 3D environment in Rough Mereology terms. The main goal was to construct the algorithm that would generate the mereological potential fields in…
We consider the problems of exploration and point-goal navigation in previously unseen environments, where the spatial complexity of indoor scenes and partial observability constitute these tasks challenging. We argue that learning…
Density map is an effective visualization technique for depicting the scalar field distribution in 2D space. Conventional methods for constructing density maps are mainly based on Euclidean distance, limiting their applicability in urban…