Related papers: Under-Canopy Navigation using Aerial Lidar Maps
This paper addresses the challenge of navigating unmanned aerial vehicles in contested environments by introducing a cooperative multi-agent framework that increases the likelihood of safe UAV traversal. The approach involves two types of…
In this paper, a complete framework for Autonomous Self Driving is implemented. LIDAR, Camera and IMU sensors are used together. The entire data communication is managed using Robot Operating System which provides a robust platform for…
Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as undeveloped…
Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…
Last two decades, the problem of robotic mapping has made a lot of progress in the research community. However, since the data provided by the sensor still contains noise, how to obtain an accurate map is still an open problem. In this…
Unmanned Aerial Vehicles (UAVs) equipped with bioradars are a life-saving technology that can enable identification of survivors under collapsed buildings in the aftermath of natural disasters such as earthquakes or gas explosions. However,…
Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…
This paper presents a novel approach for aerial drone autonomous navigation along predetermined paths using only visual input form an onboard camera and without reliance on a Global Positioning System (GPS). It is based on using a deep…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
This paper presents the development and evaluation of an optimization-based autonomous trajectory planning algorithm for the asteroid reconnaissance phase of a deep-space exploration mission. The reconnaissance phase is a low-altitude flyby…
Surveillance and exploration of large environments is a tedious task. In spaces with limited environmental cues, random-like search is an effective approach as it allows the robot to perform online coverage of environments using simple…
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…
We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…
This report overviews a set of recent contributions in the field of path planning that were developed to enable the realization of the autonomous aerial robotic worker for inspection operations. The specific algorithmic contributions…
In this paper, we propose a method to replan coverage paths for a robot operating in an environment with initially unknown static obstacles. Existing coverage approaches reduce coverage time by covering along the minimum number of coverage…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…