Related papers: Autonomous Exploration of Unknown 3D Environments …
Autonomous exploration in complex and cluttered environments is essential for various applications. However, there are many challenges due to the lack of global heuristic information. Existing exploration methods suffer from the repeated…
Exploration of unknown space with an autonomous mobile robot is a well-studied problem. In this work we broaden the scope of exploration, moving beyond the pure geometric goal of uncovering as much free space as possible. We believe that…
Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…
Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…
Autonomous navigation in unstructured natural environments poses a significant challenge. In goal navigation tasks without prior information, the limited look-ahead of onboard sensors utilised by robots compromises path efficiency. We…
Digital documentation of large interiors of historical buildings is an exhausting task since most of the areas of interest are beyond typical human reach. We advocate the use of autonomous teams of multi-rotor Unmanned Aerial Vehicles…
Autonomous robots operating in unstructured, safety-critical environments, from planetary exploration to warehouses and homes, must learn to safely navigate and interact with their surroundings despite limited prior knowledge. Current…
Autonomous exploration in unknown environments using mobile robots is the pillar of many robotic applications. Existing exploration frameworks either select the nearest geometric frontier or the nearest information-theoretic frontier.…
Unmanned aerial vehicles (UAVs) can be users that support new applications, or be communication access points that serve terrestrial and/or aerial users. In this paper, we focus on the connectivity problem of aerial users when they are…
This work describes the orchestration of a fleet of rotary-wing Unmanned Aerial Vehicles (UAVs) for harvesting prioritized traffic from random distributions of heterogeneous users with Multiple Input Multiple Output (MIMO) capabilities. In…
This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…
Autonomous unmanned aerial vehicle (UAV) navigation in orchards presents significant challenges due to obstacles and GPS-deprived environments. In this work, we introduce a learning-based approach to achieve vision-based navigation of UAVs…
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…
This paper addresses the joint optimization of trajectories and bandwidth allocation for multiple Unmanned Aerial Vehicles (UAVs) to enhance energy efficiency in the cooperative data collection problem. We focus on an important yet…
Unmanned Aerial Vehicles (UAVs) have recently shown great performance collecting visual data through autonomous exploration and mapping in building inspection. Yet, the number of studies is limited considering the post processing of the…
Active target sensing is the task of discovering and classifying an unknown number of targets in an environment and is critical in search-and-rescue missions. This paper develops a deep reinforcement learning approach to plan informative…
This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
We consider the problem of time-limited robotic exploration in previously unseen environments where exploration is limited by a predefined amount of time. We propose a novel exploration approach using learning-augmented model-based…