Related papers: Voxel Map to Occupancy Map Conversion Using Free S…
As the capability and complexity of UAVs continue to increase, the human-robot interface community has a responsibility to design better ways of specifying the complex 3D flight paths necessary for instructing them. Immersive interfaces,…
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…
UAV missions often require specific geometric constraints to be satisfied between ground locations and the vehicle location. Such requirements are typical for contexts where line-of-sight must be maintained between the vehicle location and…
Micro-Aerial Vehicles (MAVs) have the advantage of moving freely in 3D space. However, creating compact and sparse map representations that can be efficiently used for planning for such robots is still an open problem. In this paper, we…
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…
Maps play a key role in rapidly developing area of autonomous driving. We survey the literature for different map representations and find that while the world is three-dimensional, it is common to rely on 2D map representations in order to…
Aerial robots play a vital role in various applications where the situational awareness of the robots concerning the environment is a fundamental demand. As one such use case, drones in GPS-denied environments require equipping with…
Planning a path for a mobile robot typically requires building a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating in an unknown environment, the map built by the robot online may have many…
This paper proposes a novel cooperative system for an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which utilizes the UAV not only as a flying sensor but also as a tether attachment device. Two robots are connected…
In this work, we present a method for a probabilistic fusion of external depth and onboard proximity data to form a volumetric 3-D map of a robot's environment. We extend the Octomap framework to update a representation of the area around…
Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…
This paper focuses on online occupancy mapping and real-time collision checking onboard an autonomous robot navigating in a large unknown environment. Commonly used voxel and octree map representations can be easily maintained in a small…
This paper presents VoxelMap++: a voxel mapping method with plane merging which can effectively improve the accuracy and efficiency of LiDAR(-inertial) based simultaneous localization and mapping (SLAM). This map is a collection of voxels…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
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…
In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
The use of unmanned aerial vehicles (UAV) as flying radio access network (RAN) nodes offers a promising complement to traditional fixed terrestrial deployments. More recently yet still in the context of wireless networks, drones have also…
Mapping and scene representation are fundamental to reliable planning and navigation in mobile robots. While purely geometric maps using voxel grids allow for general navigation, obtaining up-to-date spatial and semantically rich…