Related papers: Autonomous Exploration Development Environment and…
Autonomous exploration is a fundamental capability that tightly integrates perception, planning, control, and motion execution. It plays a critical role in a wide range of applications, including indoor target search, mapping of extreme…
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…
Performing autonomous exploration is essential for unmanned aerial vehicles (UAVs) operating in unknown environments. Often, these missions start with building a map for the environment via pure exploration and subsequently using (i.e.…
This paper presents the development of an interactive system for constructing Augmented Virtual Environments (AVEs) by fusing mobile phone images with open-source geospatial data. By integrating 2D image data with 3D models derived from…
In order to enable Micro-Aerial Vehicles (MAVs) to assist in complex, unknown, unstructured environments, they must be able to navigate with guaranteed safety, even when faced with a cluttered environment they have no prior knowledge of.…
Efficient robotic exploration of unknown, sensor limited, global-information-deficient environments poses unique challenges to path planning algorithms. In these difficult environments, no deterministic guarantees on path completion and…
Off-road navigation remains challenging for autonomous robots due to the harsh terrain and clustered obstacles. In this letter, we extend the YOPO (You Only Plan Once) end-to-end navigation framework to off-road environments, explicitly…
Robotic navigation concerns the task in which a robot should be able to find a safe and feasible path and traverse between two points in a complex environment. We approach the problem of robotic navigation using reinforcement learning and…
Planning is an essential topic in the realm of automated driving. Besides planning algorithms that are widely covered in the literature, planning requires different software tools for its development, validation, and execution. This paper…
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)…
A larger number of people with heterogeneous knowledge and skills running a project together needs an adaptable, target, and skill-specific engineering process. This especially holds for a project to develop a highly innovative,…
Autonomous robot exploration requires a robot to efficiently explore and map unknown environments. Compared to conventional methods that can only optimize paths based on the current robot belief, learning-based methods show the potential to…
In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…
Exploration and collision-free navigation through an unknown environment is a fundamental task for autonomous robots. In this paper, a novel exploration strategy for Micro Aerial Vehicles (MAVs) is presented. The goal of the exploration…
Exploration systems are critical for enhancing the autonomy of robots. Due to the unpredictability of the future planning space, existing methods either adopt an inefficient greedy strategy or require a lot of resources to obtain a global…
We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…
Terrestrial-aerial bimodal vehicles, which integrate the high mobility of aerial robots with the long endurance of ground robots, offer significant potential for autonomous exploration. Given the inherent energy and time constraints in…
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…
Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive…
This work presents an innovative solution for robotic odometry, path planning and exploration in wild unknown environments, focusing on digital modelling. The approach uses a minimum cost formulation with pseudo-randomly generated…