Related papers: Quality-guided UAV Surface Exploration for 3D Reco…
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…
Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…
Autonomous vehicles such as the Mars rovers currently lead the vanguard of surface exploration on extraterrestrial planets and moons. In order to accelerate the pace of exploration and science objectives, it is critical to plan safe and…
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…
Learning-based methods are promising to plan robot motion without performing extensive search, which is needed by many non-learning approaches. Recently, Value Iteration Networks (VINs) received much interest since---in contrast to standard…
Inspection of confined infrastructure such as culverts often requires accessing hidden spaces whose entrances are reachable primarily from elevated viewpoints. Aerial-ground cooperation enables a UAV to deploy a compact UGV for interior…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
Most applications in autonomous navigation using mounted cameras rely on the construction and processing of geometric 3D point clouds, which is an expensive process. However, there is another simpler way to make a space navigable quickly:…
What makes a good viewpoint? The quality of the data used to learn 3D reconstructions is crucial for enabling efficient and accurate scene modeling. We study the active view selection problem and develop a principled analysis that yields a…
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,…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
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…
Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…
In this study, a single autonomous underwater vehicle (AUV) aims to rendezvous with a submerged leader recovery vehicle through a cluttered and variable operating field. The rendezvous problem is transformed into a nonlinear optimal control…
Understanding how humans leverage prior knowledge to navigate unseen environments while making exploratory decisions is essential for developing autonomous robots with similar abilities. In this work, we propose ForesightNav, a novel…
Persistent monitoring missions require an up-to-date knowledge of the changing state of the underlying environment. UAVs can be gainfully employed to continually visit a set of targets representing tasks (and locations) in the environment…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
Traditional visual navigation methods of micro aerial vehicle (MAV) usually calculate a passable path that satisfies the constraints depending on a prior map. However, these methods have issues such as high demand for computing resources…
The Unmanned Aerial Vehicle (UAV) path planning problem is a complex optimization problem in the field of robotics. In this paper, we investigate the possible utilization of this problem in benchmarking global optimization methods. We…
In recent years, Neural Radiance Fields (NeRF) have emerged as a powerful tool for 3D reconstruction and novel view synthesis. However, the computational cost of NeRF rendering and degradation in quality due to the presence of artifacts…