Related papers: REAL: Rapid Exploration with Active Loop-Closing t…
Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
Many emerging technologies for the next generation wireless network prefer line-of-sight (LOS) propagation conditions to fully release their performance advantages. This paper studies 3D unmanned aerial vehicle (UAV) placement to establish…
Battery-powered multirotor unmanned aerial vehicles (UAVs) can rapidly map unknown environments, but mission performance is often limited by energy rather than geometry alone. Standard exploration policies that optimise for coverage or time…
Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without prior information, the exploration performance is usually…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…
Search and rescue environments exhibit challenging 3D geometry (e.g., confined spaces, rubble, and breakdown), which necessitates agile and maneuverable aerial robotic systems. Because these systems are size, weight, and power (SWaP)…
This paper studies optimal unmanned aerial vehicle (UAV) placement to ensure line-of-sight (LOS) communication and sensing for a cluster of ground users possibly in deep shadow, while the UAV maintains backhaul connectivity with a base…
Consider an unmanned aerial vehicle (UAV) that searches for an unknown number of targets at unknown positions in 3D space. A particle filter uses imperfect measurements about the targets to update an intensity function that represents the…
Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path…
Heterogeneous teams of Unmanned Aerial Vehicles (UAVs) can enhance the exploration capabilities of aerial robots by exploiting different strengths and abilities of varying UAVs. This paper presents a novel method for exploring unknown…
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…
This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and pathplanning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
Classic exploration methods often rely on dense occupancy maps or high-resolution point clouds for frontier detection and path planning, resulting in substantial memory consumption and computational overhead. Moreover, micro UAVs under…
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,…