Related papers: Risk-aware Meta-level Decision Making for Explorat…
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…
This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…
Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can…
Safe autonomous exploration of unknown environments is an essential skill for mobile robots to effectively and adaptively perform environmental mapping for diverse critical tasks. Due to its simplicity, most existing exploration methods…
Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…
In order for an autonomous robot to efficiently explore an unknown environment, it must account for uncertainty in sensor measurements, hazard assessment, localization, and motion execution. Making decisions for maximal reward in a…
A significant problem in designing mobile robot control systems involves coping with the uncertainty that arises in moving about in an unknown or partially unknown environment and relying on noisy or ambiguous sensor data to acquire…
This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…
This paper considers the path planning problem for autonomous exploration of an unknown environment using multiple heterogeneous robots such as drones, wheeled, and legged robots, which have different capabilities to traverse complex…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
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…
Autonomous exploration is a widely studied problem where a robot incrementally builds a map of a previously unknown environment. The robot selects the next locations to reach using an exploration strategy. To do so, the robot has to balance…
Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
Autonomous robots operating in unstructured, safety-critical environments, from planetary exploration to warehouses and homes, must learn to safely navigate and interact with their surroundings despite limited prior knowledge. Current…
We consider an autonomous exploration problem in which a range-sensing mobile robot is tasked with accurately mapping the landmarks in an a priori unknown environment efficiently in real-time; it must choose sensing actions that both curb…
Autonomous exploration is a crucial aspect of robotics, enabling robots to explore unknown environments and generate maps without prior knowledge. This paper proposes a method to enhance exploration efficiency by integrating neural…