Related papers: Energy-Aware Ergodic Search: Continuous Exploratio…
In environments with uncertain dynamics exploration is necessary to learn how to perform well. Existing reinforcement learning algorithms provide strong exploration guarantees, but they tend to rely on an ergodicity assumption. The essence…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
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…
Recent advances in vision-based navigation and exploration have shown impressive capabilities in photorealistic indoor environments. However, these methods still struggle with long-horizon tasks and require large amounts of data to…
Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…
Robotic Exploration has evolved rapidly in the past two decades as new and more complex techniques have been created to explore unknown regions efficiently. Exciting advancements in exploration, autonomous navigation, and sensor technology…
Swarm robotic search is concerned with searching targets in unknown environments (e.g., for search and rescue or hazard localization), using a large number of collaborating simple mobile robots. In such applications, decentralized swarm…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
We present an energy-aware collaborative exploration framework for a UAV-UGV team operating in unknown environments, where the UAV's energy constraint is modeled as a maximum flight-time limit. The UAV executes a sequence of energy-bounded…
An Optimal Transport (OT)-based decentralized collaborative multi-robot exploration strategy is proposed in this paper. This method is to achieve an efficient exploration with a predefined priority in the given domain. In this context, the…
In humans, intrinsic motivation is an important mechanism for open-ended cognitive development; in robots, it has been shown to be valuable for exploration. An important aspect of human cognitive development is $\textit{episodic memory}$…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
5G mobile networks introduce a new dimension for connecting and operating mobile robots in outdoor environments, leveraging cloud-native and offloading features of 5G networks to enable fully flexible and collaborative cloud robot…
We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…
This work presents a fully integrated tree-based combined exploration-planning algorithm: Exploration-RRT (ERRT). The algorithm is focused on providing real-time solutions for local exploration in a fully unknown and unstructured…
In disaster response scenarios, deploying robotic teams effectively is crucial for improving situational awareness and enhancing search and rescue operations. The use of robots in search and rescue has been studied but the question of where…
Recent advances in robotics have paved the way for robots to replace humans in perilous situations, such as searching for victims in burning buildings, in earthquake-damaged structures, in uncharted caves, traversing minefields or…
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…
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…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…