Related papers: Autonomous Exploration of Unknown 3D Environments …
This paper focuses on developing new navigation and reconnaissance capabilities for cooperative unmanned systems in uncertain environments. The goal is to design a cooperative multi-vehicle system that can survey an unknown environment and…
In autonomous robot exploration, the frontier is the border in the world map between the explored space and unexplored space. The frontier plays an important role when deciding where in the environment the robots should go explore next. We…
Unmanned Aerial Vehicle (UAV) swarms adoption shows a steady growth among operators due to the benefits in time and cost arisen from their use. However, this kind of system faces an important problem which is the calculation of many optimal…
Path planning methods for autonomous unmanned aerial vehicles (UAVs) are typically designed for one specific type of mission. This work presents a method for autonomous UAV path planning based on deep reinforcement learning (DRL) that can…
An autonomous indoor aerial vehicle requires reliable simul- taneous localization and mapping (SLAM), accurate flight control, and robust path planning for navigation. This paper presents a system level combination of these existing…
Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…
This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and control strategies. Over the past decade, LiDAR technology has…
Radio maps are emerging as a popular means to endow next-generation wireless communications with situational awareness. In particular, radio maps are expected to play a central role in unmanned aerial vehicle (UAV) communications since they…
Search and rescue (SAR) missions require reliable search methods to locate survivors, especially in challenging or inaccessible environments. This is why introducing unmanned aerial vehicles (UAVs) can be of great help to enhance the…
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
Multi-agent exploration of a bounded 3D environment with unknown initial positions of agents is a challenging problem. It requires quickly exploring the environments as well as robustly merging the sub-maps built by the agents. We take the…
Search and rescue environments exhibit challenging 3D geometry (e.g., confined spaces, rubble, and breakdown), which necessitates agile and maneuverable aerial robotic systems. Because these systems are size, weight, and power (SWaP)…
In our work, we extend the current state-of-the-art approach for autonomous multi-UAV exploration to consumer-level UAVs, such as the DJI Mini 3 Pro. We propose a pipeline that selects viewpoint pairs from which the depth can be estimated…
This paper considers the problem of efficient exploration of unseen environments, a key challenge in AI. We propose a `learning to explore' framework where we learn a policy from a distribution of environments. At test time, presented with…
In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without…
Implicit neural representations have demonstrated significant promise for 3D scene reconstruction. Recent works have extended their applications to autonomous implicit reconstruction through the Next Best View (NBV) based method. However,…
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…
This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…
This paper presents our approach to develop a method for an unmanned ground vehicle (UGV) to perform inspection tasks in nuclear environments using rich information maps. To reduce inspectors' exposure to elevated radiation levels, an…