Related papers: Autonomous Exploration of Unknown 3D Environments …
Autonomous exploration is one of the important parts to achieve the fast autonomous mapping and target search. However, most of the existing methods are facing low-efficiency problems caused by low-quality trajectory or back-and-forth…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
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…
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…
Battery-powered multirotor unmanned aerial vehicles (UAVs) can rapidly map unknown environments, but mission performance is often limited by energy rather than geometry alone. Standard exploration policies that optimise for coverage or time…
Performing autonomous exploration is essential for unmanned aerial vehicles (UAVs) operating in unknown environments. Often, these missions start with building a map for the environment via pure exploration and subsequently using (i.e.…
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…
Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage efficiency, but often overlook that visual-inertial odometry…
A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…
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…
Exploration and collision-free navigation through an unknown environment is a fundamental task for autonomous robots. In this paper, a novel exploration strategy for Micro Aerial Vehicles (MAVs) is presented. The goal of the exploration…
In this paper we propose a planner for 3D exploration that is suitable for applications using state-of-the-art 3D sensors such as lidars, which produce large point clouds with each scan. The planner is based on the detection of a frontier -…
Autonomous exploration is a widely studied fundamental application in the field of quadrotors, which requires them to automatically explore unknown space to obtain complete information about the environment. The frontier-based method, which…
Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can…
Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the…
Autonomous exploration is one of the important parts to achieve the autonomous operation of Unmanned Aerial Vehicles (UAVs). To improve the efficiency of the exploration process, a fast and autonomous exploration planner (FAEP) is proposed…
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…
Autonomous exploration of unknown environments has been widely applied in inspection, surveillance, and search and rescue. In exploration task, the basic requirement for robots is to detect the unknown space as fast as possible. In this…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
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…