Related papers: A Hierarchical Graph-Based Terrain-Aware Autonomou…
This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved problem challenged by communication, power, and compute…
Autonomous navigation in extreme mountainous terrains poses challenges due to the presence of mobility-stressing elements and undulating surfaces, making it particularly difficult compared to conventional off-road driving scenarios. In such…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path…
This work addresses the collaborative multi-robot autonomous online exploration problem, particularly focusing on distributed exploration planning for dynamically balanced exploration area partition and task allocation among a team of…
Heterogeneous multi-robot systems are advantageous for operations in unknown environments because functionally specialised robots can gather environmental information, while others perform tasks. We define this decomposition as the…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…
In autonomous robot exploration, the frontier is the border in the world map between the explored space and unexplored space. The frontier plays an important role when deciding where in the environment the robots should go explore next. We…
Autonomous navigation is essential for steel bridge inspection robot to monitor and maintain the working condition of steel bridges. Majority of existing robotic solutions requires human support to navigate the robot doing the inspection.…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…
In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…
Minimising the discomfort caused by robots when navigating in social situations is crucial for them to be accepted. The paper presents a machine learning-based framework that bootstraps existing one-dimensional datasets to generate a cost…
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…
Exploration systems are critical for enhancing the autonomy of robots. Due to the unpredictability of the future planning space, existing methods either adopt an inefficient greedy strategy or require a lot of resources to obtain a global…
Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features. While these maps allow for the prediction of point-wise saliency maps when queried for a certain language concept,…
In this paper, we present an evolved version of Situational Graphs, which jointly models in a single optimizable factor graph (1) a pose graph, as a set of robot keyframes comprising associated measurements and robot poses, and (2) a 3D…