Related papers: A Novel Methodology for Autonomous Planetary Explo…
In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…
Robot swarms offer significant potential for inspecting diverse infrastructure, ranging from bridges to space stations. However, effective inspection requires accurate robot localization, which demands substantial computational resources…
Multicopters with collision-resilient designs can operate with trajectories involving collisions. This paper presents a sampling-based method that can exploit collisions for better motion planning. The method is built upon the basis of the…
This paper presents a decentralized and asynchronous systematic solution for multi-robot autonomous navigation in unknown obstacle-rich scenes using merely onboard resources. The planning system is formulated under gradient-based local…
This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable…
Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…
In this paper, we propose a cost-effective strategy for heterogeneous UAV swarm systems for cooperative aerial inspection. Unlike previous swarm inspection works, the proposed method does not rely on precise prior knowledge of the…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
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…
The Curiosity rover is one of the most complex systems successfully deployed in a planetary exploration mission to date. It was sent by NASA to explore the surface of Mars and to identify potential signs of life. Even though it has limited…
A novel decentralised trajectory generation algorithm for Multi Agent systems is presented. Multi-robot systems have the capacity to transform lives in a variety of fields. But, trajectory generation for multi-robot systems is still in its…
Robots will bring search and rescue (SaR) in disaster response to another level, in case they can autonomously take over dangerous SaR tasks from humans. A main challenge for autonomous SaR robots is to safely navigate in cluttered…
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
With the incremental development of robotic platforms to automate the manual processes, path planning has become a critical domain with or without the knowledge of the indoor and outdoor environment. The algorithms can be intelligent or…
Efficient autonomous exploration in large-scale environments remains challenging due to the high planning computational cost and low-speed maneuvers. In this paper, we propose a fast and computationally efficient dual-layer exploration…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Autonomous robot exploration requires a robot to efficiently explore and map unknown environments. Compared to conventional methods that can only optimize paths based on the current robot belief, learning-based methods show the potential to…
Efficient robotic exploration of unknown, sensor limited, global-information-deficient environments poses unique challenges to path planning algorithms. In these difficult environments, no deterministic guarantees on path completion and…