Related papers: Enhancing UAV Search under Occlusion using Next Be…
Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…
To image in high resolution large and occlusion-prone scenes, a camera must move above and around. Degradation of visibility due to geometric occlusions and distances is exacerbated by scattering, when the scene is in a participating…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
An unmanned autonomous vehicle (UAV) is sent on a mission to explore and reconstruct an unknown environment from a series of measurements collected by Bayesian optimization. The success of the mission is judged by the UAV's ability to…
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.…
Optimally selecting a subset of targets from a larger catalog is a common problem in astronomy and cosmology. A specific example is the selection of targets from an imaging survey for multi-object spectrographic follow-up. We present a new…
UAVs are playing an increasingly important role in the field of wilderness rescue by virtue of their flexibility. This paper proposes a fusion of UAV vision technology and satellite image analysis technology for active wildfires detection…
This paper studies optimal unmanned aerial vehicle (UAV) placement to ensure line-of-sight (LOS) communication and sensing for a cluster of ground users possibly in deep shadow, while the UAV maintains backhaul connectivity with a base…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
Autonomous exploration is a crucial aspect of robotics that has numerous applications. Most of the existing methods greedily choose goals that maximize immediate reward. This strategy is computationally efficient but insufficient for…
Path planning methods for the unmanned aerial vehicle (UAV) in goods delivery have drawn great attention from industry and academics because of its flexibility which is suitable for many situations in the "Last Kilometer" between customer…
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
Drones have been getting more and more popular in many economy sectors. Both scientific and industrial communities aim at making the impact of drones even more disruptive by empowering collaborative autonomous behaviors -- also known as…
Robotic inspection of radioactive areas enables operators to be removed from hazardous environments; however, planning and operating in confined, cluttered environments remain challenging. These systems must autonomously reconstruct the…
Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…
In recent years, increased wildfires have caused irreversible damage to forest resources worldwide, threatening wildlives and human living conditions. The lack of accurate frontline information in real-time can pose great risks to…
This paper introduces a comprehensive framework for Post-Disaster Search and Rescue (PDSR), aiming to optimize search and rescue operations leveraging Unmanned Aerial Vehicles (UAVs). The primary goal is to improve the precision and…
Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…
Humans rely on the synergistic control of head (cephalomotor) and eye (oculomotor) to efficiently search for visual information in 360{\deg}. However, prior approaches to visual search are limited to a static image, neglecting the physical…