Related papers: Risk-Aware Coverage Path Planning for Lunar Micro-…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Geophysical imaging of the lunar near-surface structure will be key for in situ resource utilization, identification of hazards for crews and infrastructure, and answering science questions on the formation and interior of the Moon. The…
In robotic planetary surface exploration, strategic mobility planning is an important task that involves finding candidate long-distance routes on orbital maps and identifying segments with uncertain traversability. Then, expert human…
Driving energy consumption plays a major role in the navigation of mobile robots in challenging environments, especially if they are left to operate unattended under limited on-board power. This paper reports on first results of an…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…
This article establishes the novel D$^*_+$, a risk-aware and platform-agnostic heterogeneous global path planner for robotic navigation in complex environments. The proposed planner addresses a fundamental bottleneck of occupancy-based path…
In this paper, we study the trajectory and resource optimization for lightweight rotary-wing unmanned aerial vehicles (UAVs) equipped with a synthetic aperture radar (SAR) system. The UAV's mission is to perform SAR imaging of a given area…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
This paper proposes a bandwidth tunable technique for real-time probabilistic scene modeling and mapping to enable co-robotic exploration in communication constrained environments such as the deep sea. The parameters of the system enable…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Occupancy mapping is a fundamental component of robotic systems to reason about the unknown and known regions of the environment. This article presents an efficient occupancy mapping framework for high-resolution LiDAR sensors, termed…
Advances in planetary robotics have led to wheeled robots that have beamed back invaluable science data from the surface of the Moon and Mars. However, these large wheeled robots are unable to access rugged environments such as cliffs,…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Mars exploration requires precise and reliable terrain models to ensure safe rover navigation across its unpredictable and often hazardous landscapes. Stereoscopic vision serves a critical role in the rover's perception, allowing scene…
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…
We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…