Related papers: Volumetric Objectives for Multi-Robot Exploration …
In this work, we present a method for a probabilistic fusion of external depth and onboard proximity data to form a volumetric 3-D map of a robot's environment. We extend the Octomap framework to update a representation of the area around…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…
Autonomous exploration in mobile robotics often involves a trade-off between two objectives: maximizing environmental coverage and minimizing the total path length. In the widely used information gain paradigm, exploration is guided by the…
Panoramic imagery provides holistic 360{\deg} visual coverage for perception in quadruped robots. However, existing occupancy prediction methods are mainly designed for wheeled autonomous driving and rely heavily on RGB cues, limiting their…
We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…
One of the goals of active information acquisition using multi-robot teams is to keep the relative uncertainty in each region at the same level to maintain identical acquisition quality (e.g., consistent target detection) in all the…
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…
We present a framework for a ground-aerial robotic team to explore large, unstructured, and unknown environments. In such exploration problems, the effectiveness of existing exploration-boosting heuristics often scales poorly with the…
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…
Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…
Volumetric maps are widely used in robotics due to their desirable properties in applications such as path planning, exploration, and manipulation. Constant advances in mapping technologies are needed to keep up with the improvements in…
We consider exploration tasks in which an autonomous mobile robot incrementally builds maps of initially unknown indoor environments. In such tasks, the robot makes a sequence of decisions on where to move next that, usually, are based on…
Multi-robot exploration is a field which tackles the challenge of exploring a previously unknown environment with a number of robots. This is especially relevant for search and rescue operations where time is essential. Current state of the…
Robotic Exploration has evolved rapidly in the past two decades as new and more complex techniques have been created to explore unknown regions efficiently. Exciting advancements in exploration, autonomous navigation, and sensor technology…
Being able to explore an environment and understand the location and type of all objects therein is important for indoor robotic platforms that must interact closely with humans. However, it is difficult to evaluate progress in this area…
Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…
For applications in e-commerce, warehouses, healthcare, and home service, robots are often required to search through heaps of objects to grasp a specific target object. For mechanical search, we introduce X-Ray, an algorithm based on…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…