Related papers: SphereMap: Dynamic Multi-Layer Graph Structure for…
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
This paper presents a distributed approach to provide persistent coverage of an arbitrarily shaped area using heterogeneous coverage of fixed-wing unmanned aerial vehicles (UAVs), and to recover from simultaneous failures of multiple UAVs.…
Autonomous driving needs various line-of-sight sensors to perceive surroundings that could be impaired under diverse environment uncertainties such as visual occlusion and extreme weather. To improve driving safety, we explore to wirelessly…
Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In…
We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…
The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. This paper presents trajectory planning for three-dimensional autonomous multi-UAV…
3D Scene Graphs integrate both metric and semantic information, yet their structure remains underutilized for improving path planning efficiency and interpretability. In this work, we present S-Path, a situationally-aware path planner that…
Exploring an unknown environment without colliding with obstacles is one of the essentials of autonomous vehicles to perform diverse missions such as structural inspections, rescues, deliveries, and so forth. Therefore, unmanned aerial…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
The ability to solve motion-planning queries within a fixed time budget is critical for deploying robotic systems in time-sensitive applications. Semi-static environments, where most of the workspace remains fixed while a subset of…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
It is challenging for the mobile robot to achieve autonomous and mapless navigation in the unknown environment with uneven terrain. In this study, we present a layered and systematic pipeline. At the local level, we maintain a tree…
In this paper, we study the path planning for a cellular-connected unmanned aerial vehicle (UAV) to minimize its flying distance from given initial to final locations, while ensuring a target link quality in terms of the large-scale channel…
Mobile base stations on board unmanned aerial vehicles (UAVs) promise to deliver connectivity to those areas where the terrestrial infrastructure is overloaded, damaged, or absent. A fundamental problem in this context involves determining…
In this paper, we present a new approach to bridge the domain gap between synthetic and real-world data for unmanned aerial vehicle (UAV)-based perception. Our formulation is designed for dynamic scenes, consisting of small moving objects…
In this paper, we present a real-time approach to local trajectory replanning for microaerial vehicles (MAVs). Current trajectory generation methods for multicopters achieve high success rates in cluttered environments, but assume that the…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
Next-generation Unmanned Aerial Vehicle (UAV) communication networks must maintain reliable connectivity under rapid topology changes, fluctuating link quality, and time-critical data exchange. Existing topology control methods rely on…
The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…
We introduce a new graph neural operator-based approach for task allocation in a system of heterogeneous robots composed of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or…