Related papers: DART: Dual-level Autonomous Robotic Topology for E…
We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…
This paper investigates the multi-agent cooperative exploration problem, which requires multiple agents to explore an unseen environment via sensory signals in a limited time. A popular approach to exploration tasks is to combine active…
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…
Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…
Autonomous robot exploration (ARE) is the process of a robot autonomously navigating and mapping an unknown environment. Recent Reinforcement Learning (RL)-based approaches typically formulate ARE as a sequential decision-making problem…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
In autonomous driving, an accurate understanding of environment, e.g., the vehicle-to-vehicle and vehicle-to-lane interactions, plays a critical role in many driving tasks such as trajectory prediction and motion planning. Environment…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
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…
Dynamic low altitude networks offer significant potential for efficient and reliable data transport via unmanned aerial vehicles (UAVs) relays which usually operate with predetermined trajectories. However, it is challenging to optimize the…
It is challenging for the mobile robot to achieve autonomous and mapless navigation in the unknown environment with uneven terrain. In this study, we present a layered and systematic pipeline. At the local level, we maintain a tree…
Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…
Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…
Topological maps are more suitable than metric maps for robotic exploration tasks. However, real-time updating of accurate and detail-rich environmental topological maps remains a challenge. This paper presents a topological map updating…
Autonomous exploration in unknown environments is key for mobile robots, helping them perceive, map, and make decisions in complex areas. However, current methods often rely on frequent global optimization, suffering from high computational…
Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…
A flexible topological representation consisting of a two-layer graph structure built on-board an Unmanned Aerial Vehicle (UAV) by continuously filling the free space of an occupancy map with intersecting spheres is proposed in this…
Autonomous explorative robots frequently encounter scenarios where multiple future trajectories can be pursued. Often these are cases with multiple paths around an obstacle or trajectory options towards various frontiers. Humans in such…
This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and pathplanning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been…