Related papers: Efficient Submap-based Autonomous MAV Exploration …
Indoor exploration is an important task in disaster relief, emergency response scenarios, and Search And Rescue (SAR) missions. Unmanned Aerial Vehicle (UAV) systems can aid first responders by maneuvering autonomously in areas inside…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
Selecting safe landing sites in non-cooperative environments is a key step towards the full autonomy of UAVs. However, the existing methods have the common problems of poor generalization ability and robustness. Their performance in unknown…
The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improved LiDAR-inertial localization and mapping system for…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…
Exploration is an important step in autonomous navigation of robotic systems. In this paper we introduce a series of enhancements for exploration algorithms in order to use them with vision-based simultaneous localization and mapping…
Simultaneous Localization and Mapping (SLAM) allows mobile robots to navigate without external positioning systems or pre-existing maps. Radar is emerging as a valuable sensing tool, especially in vision-obstructed environments, as it is…
Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes depends on consistent mapping and pose estimation. However,…
Localization can be achieved by different sensors and techniques such as a global positioning system (GPS), wifi, ultrasonic sensors, and cameras. In this paper, we focus on the laser-based localization method for unmanned aerial vehicle…
Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the…
Many scenarios require a robot to be able to explore its 3D environment online without human supervision. This is especially relevant for inspection tasks and search and rescue missions. To solve this high-dimensional path planning problem,…
In search and rescue missions, time is an important factor; fast navigation and quickly acquiring situation awareness might be matters of life and death. Hence, the use of robots in such scenarios has been restricted by the time needed to…
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…
In this paper, we address the challenge of exploring unknown indoor aerial environments using autonomous aerial robots with Size Weight and Power (SWaP) constraints. The SWaP constraints induce limits on mission time requiring efficiency in…
For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass and garden beds, for safety and social conformity…
Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage efficiency, but often overlook that visual-inertial odometry…
We address the problem of autonomous exploration and mapping for a mobile robot using visual inputs. Exploration and mapping is a well-known and key problem in robotics, the goal of which is to enable a robot to explore a new environment…
Enabling fully autonomous robots capable of navigating and exploring large-scale, unknown and complex environments has been at the core of robotics research for several decades. A key requirement in autonomous exploration is building…
Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…
Classic exploration methods often rely on dense occupancy maps or high-resolution point clouds for frontier detection and path planning, resulting in substantial memory consumption and computational overhead. Moreover, micro UAVs under…