Related papers: Autonomous 3D Exploration in Large-Scale Environme…
Autonomous robots are often employed for data collection due to their efficiency and low labour costs. A key task in robotic data acquisition is planning paths through an initially unknown environment to collect observations given…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
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…
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…
In this work, we propose a deep reinforcement learning (DRL) based reactive planner to solve large-scale Lidar-based autonomous robot exploration problems in 2D action space. Our DRL-based planner allows the agent to reactively plan its…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
Obstacle avoidance of quadrotors in dynamic environments is still a very open problem. Current works commonly leverage traditional static maps to represent static obstacles and the detection and tracking of moving objects (DATMO) method to…
Many scenarios require a robot to be able to explore its 3D environment online without human supervision. This is especially relevant for inspection tasks and search and rescue missions. To solve this high-dimensional path planning problem,…
Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
This paper presents a method for robotic monitoring missions in the presence of moving obstacles. Although the scenario map is known, the robot lacks information about the movement of dynamic obstacles during the monitoring mission.…
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 of mobile robots is a well studied problem in robotics. However, the navigation task becomes challenging when multi-robot systems have to cooperatively navigate dynamic environments with deadlock-prone layouts. We…
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…
Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
In this paper, we propose a systematic framework for fast exploration of complex and large 3-D environments using micro aerial vehicles (MAVs). The key insight is the organic integration of the frontier-based and sampling-based strategies…
Autonomous exploration in dynamic environments necessitates a planner that can proactively respond to changes and make efficient and safe decisions for robots. Although plenty of sampling-based works have shown success in exploring static…
Autonomous 3D environment exploration is a fundamental task for various applications such as navigation. The goal of exploration is to investigate a new environment and build its occupancy map efficiently. In this paper, we propose a new…