Related papers: 3D Coverage Path Planning for Efficient Constructi…
Currently, state-of-the-art exploration methods maintain high-resolution map representations in order to optimize exploration goals in each step that maximizes information gain. However, during exploring, those "optimal" selections could…
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…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
One of the promising applications of satellite images is building construction monitoring. It allows to control the construction progress around the world even in the locations that are hard to reach. One of the main hurdles of this…
Today, mobile robots are expected to carry out increasingly complex tasks in multifarious, real-world environments. Often, the tasks require a certain semantic understanding of the workspace. Consider, for example, spoken instructions from…
High-definition (HD) maps are essential for autonomous driving, providing precise information such as road boundaries, lane dividers, and crosswalks to enable safe and accurate navigation. However, traditional HD map generation is…
Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower surveys provide geometric coverage guarantees but can waste…
A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning.…
In this paper we investigate the problem of using a UAV to provide current map information of the environment in front of a moving ground vehicle. We propose a simple coverage plan called a conformal lawn mower plan that enables a UAV to…
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…
In this paper, we propose a novel semi-autonomous image sampling strategy, called stealthy coverage control, for human-enabled 3D structure reconstruction. The present mission involves a fundamental problem: while the number of images…
This paper presents a lidar-only state estimation and tracking framework, along with a roadside sensing unit for integration with existing urban infrastructure. Urban deployments demand scalable, real-time tracking solutions, yet…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
Autonomous exploration in unknown environments requires estimating the information gain of an action to guide planning decisions. While prior approaches often compute information gain at discrete waypoints, pathwise integration offers a…
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…
Accurate interpretation of street-level imagery is essential for large-scale urban mapping and the creation of Spatial Digital Twin (SDT) environments. This work presents a unified framework for joint 2D-3D segmentation and association that…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…
We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction sites. The approach leverages multi-modal sensing…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…