Related papers: FALCON: Fast Autonomous Aerial Exploration using C…
One-shot federated learning (OSFL) reduces the communication cost and privacy risks of iterative federated learning by constructing a global model with a single round of communication. However, most existing methods struggle to achieve…
This paper presents aUToPath, a unified online framework for global path-planning and control to address the challenge of autonomous navigation in cluttered urban environments. A key component of our framework is a novel hybrid planner that…
In this paper, we propose a new framework for multi-agent collaborative exploration of unknown environments. The proposed method combines state-of-the-art algorithms in mapping, safe corridor generation and multi-agent planning. It first…
The miniaturisation of sensors and processors, the advancements in connected edge intelligence, and the exponential interest in Artificial Intelligence are boosting the affirmation of autonomous nano-size drones in the Internet of Robotic…
Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach…
One of the most critical features for the successful operation of autonomous UAVs is the ability to make decisions based on the information acquired from their surroundings. Each UAV must be able to make decisions during the flight in order…
SANDO is a safe trajectory planner for 3D dynamic unknown environments, where obstacle locations and motions are unknown a priori and a collision-free plan can become unsafe at any moment, requiring fast replanning. Existing soft-constraint…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
Cellular networks are promising to support effective wireless communications for unmanned aerial vehicles (UAVs), which will help to enable various long-range UAV applications. However, these networks are optimized for terrestrial users,…
The ability to efficiently plan and execute automated and precise search missions using unmanned aerial vehicles (UAVs) during emergency response situations is imperative. Precise navigation between obstacles and time-efficient searching of…
We present the Frontier Aware Search with backTracking (FAST) Navigator, a general framework for action decoding, that achieves state-of-the-art results on the Room-to-Room (R2R) Vision-and-Language navigation challenge of Anderson et. al.…
Along with the recent rise in popularity of Electric Vehicles (EVs), Electric Vehicle Supply Equipment (EVSE) has emerged as a new target for cyber attacks. Therefore, ensuring the security and integrity of network communication between…
The paper presents a novel sample-based algorithm, called C*, for real-time coverage path planning (CPP) of unknown environments. C* is built upon the concept of a Rapidly Covering Graph (RCG), which is incrementally constructed during…
Zero-shot Object Navigation (ZSON) has shown promise for open-vocabulary target search in unseen environments, yet most existing systems remain tied to planar representations and single-floor assumptions. These assumptions become inadequate…
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our…
Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without prior information, the exploration performance is usually…
The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyond visual line of sight is expected to open important future opportunities in the area of transportation, goods delivery, and system monitoring. A key challenge in…
In the area of multi-drone systems, navigating through dynamic environments from start to goal while providing collision-free trajectory and efficient path planning is a significant challenge. To solve this problem, we propose a novel…
Indoor infrastructure inspection, such as tunnels and industrial facilities, requires systematic surface coverage to ensure that all inspection targets are properly observed. Unmanned Aerial Vehicles (UAVs) offer an alternative to manual…
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…