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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…
Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric and semantic concepts from maps is crucial for robots to make…
This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…
We address the over-constrained planning problem in semi-static environments. The planning objective is to find a best-effort solution that avoids all hard constraint regions while minimally traversing the least risky areas. Conventional…
This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities of particular…
Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…
3D scene graphs (3DSGs) are an emerging description; unifying symbolic, topological, and metric scene representations. However, typical 3DSGs contain hundreds of objects and symbols even for small environments; rendering task planning on…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different…
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…
Operating in previously visited environments is becoming increasingly crucial for autonomous systems, with direct applications in autonomous driving, surveying, and warehouse or household robotics. This repeated exposure to observing the…
As mobile robots find increasing use in outdoor applications, designing energy-efficient robot navigation algorithms is gaining importance. There are two primary approaches to energy efficient navigation: Offline approaches rely on a…
Path planning for robotic exploration is challenging, requiring reasoning over unknown spaces and anticipating future observations. Efficient exploration requires selecting budget-constrained paths that maximize information gain. Despite…
Generating overtaking trajectories in high-speed scenarios is typically addressed through hierarchical planning, which often suffers from local optima due to single initial solutions and low computational efficiency during numerical…
Search-based planning with motion primitives is a powerful motion planning technique that can provide dynamic feasibility, optimality, and real-time computation times on size, weight, and power-constrained platforms in unstructured…
Efficient data transmission and reasonable task allocation are important to improve multi-robot exploration efficiency. However, most communication data types typically contain redundant information and thus require massive communication…
Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…
This paper presents an efficient gradient projection-based method for structural topological optimization problems characterized by a nonlinear objective function which is minimized over a feasible region defined by bilateral bounds and a…
This paper introduces and demonstrates a computational pipeline for the statistical analysis of shape graph datasets, namely geometric networks embedded in 2D or 3D spaces. Unlike traditional abstract graphs, our purpose is not only to…
Panoramic RGB-D cameras are known for their ability to produce high quality 3D scene reconstructions. However, operating these cameras involves manually selecting viewpoints and physically transporting the camera, making the generation of a…