Related papers: A Heuristic Autonomous Exploration Method Based on…
We propose a novel holistic approach for safe autonomous exploration and map building based on constrained Bayesian optimisation. This method finds optimal continuous paths instead of discrete sensing locations that inherently satisfy…
The ability to perform autonomous exploration is essential for unmanned aerial vehicles (UAV) operating in unstructured or unknown environments where it is hard or even impossible to describe the environment beforehand. However, algorithms…
By utilizing only depth information, the paper introduces a novel but efficient local planning approach that enhances not only computational efficiency but also planning performances for memoryless local planners. The sampling is first…
Search and rescue missions and surveillance require finding targets in a large area. These tasks often use unmanned aerial vehicles (UAVs) with cameras to detect and move towards a target. However, common UAV approaches make two simplifying…
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…
To realize autonomous shipping, autonomous berthing and unberthing are some of the technical challenges. In the past, numerous research have been done on the optimization of trajectory planning of berthing problems. However, these studies…
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…
The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight…
Full autonomy for fixed-wing unmanned aerial vehicles (UAVs) requires the capability to autonomously detect potential landing sites in unknown and unstructured terrain, allowing for self-governed mission completion or handling of emergency…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…
In this work we consider partially observable environments with sparse rewards. We present a self-supervised representation learning method for image-based observations, which arranges embeddings respecting temporal distance of…
In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such environments with limited localization, communication range, and…
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.…
For real-time multirotor kinodynamic motion planning, the efficiency of sampling-based methods is usually hindered by difficult-to-sample homotopy classes like narrow passages. In this paper, we address this issue by a hybrid scheme. We…
Research into several aspects of robot-enabled reconnaissance of random fields is reported. The work has two major components: the underlying theory of information acquisition in the exploration of unknown fields and the results of…
Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…
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…
Indoor exploration is an important task in disaster relief, emergency response scenarios, and Search And Rescue (SAR) missions. Unmanned Aerial Vehicle (UAV) systems can aid first responders by maneuvering autonomously in areas inside…
In this work we tackle the path planning problem for a 21-dimensional snake robot-like manipulator, navigating a cluttered gas turbine for the purposes of inspection. Heuristic search based approaches are effective planning strategies for…
Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…