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This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
This paper addresses the problem of robot navigation in mixed geometric/semantic 3D environments. Given a hierarchical representation of the environment, the objective is to navigate from a start position to a goal, while satisfying…
This paper tackles the challenge of autonomous target search using unmanned aerial vehicles (UAVs) in complex unknown environments. To fill the gap in systematic approaches for this task, we introduce Star-Searcher, an aerial system…
The airborne traffic monitoring system forms a novel technology of detecting vehicle motion. An optical digital camera located on an airborne platform produces a series of images which then are processed to recognized the fixed vehicles. In…
Target search with unmanned aerial vehicles (UAVs) is relevant problem to many scenarios, e.g., search and rescue (SaR). However, a key challenge is planning paths for maximal search efficiency given flight time constraints. To address…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…
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,…
Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…
Efficient structural perception is essential for mapping and autonomous navigation on resource-constrained robots. Existing 3D methods are computationally prohibitive, while traditional 2D geometric approaches lack robustness. This paper…
We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…
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…
Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue…
This paper focuses on automatic guided vehicle (AGV) trajectory planning in the presence of moving obstacles with known but complicated trajectories. In order to achieve good solution precision, optimality and unification, the concerned…
In this paper, we present an innovative technique for the path planning of flying robots in a 3D environment in Rough Mereology terms. The main goal was to construct the algorithm that would generate the mereological potential fields in…
Inspired by the classical fractional cascading technique, we introduce new techniques to speed up the following type of iterated search in 3D: The input is a graph $\mathbf{G}$ with bounded degree together with a set $H_v$ of 3D hyperplanes…
The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. This paper presents trajectory planning for three-dimensional autonomous multi-UAV…
Implicit neural representations have shown promising potential for the 3D scene reconstruction. Recent work applies it to autonomous 3D reconstruction by learning information gain for view path planning. Effective as it is, the computation…
3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and…