Related papers: Quality-guided UAV Surface Exploration for 3D Reco…
Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environments such as disaster zones, contaminated sites, wildfire areas, and damaged infrastructure, where limited flight endurance must be…
Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring unknown environments is that the robot has to plan with the…
Route planning for multiple Unmanned Aerial Vehicles (UAVs) is a series of translation and rotational steps from a given start location to the destination goal location. The goal of the route planning problem is to determine the most…
In this paper, we present an active exploration framework for high-fidelity 3D reconstruction that incrementally builds a multi-level uncertainty space and selects next-best-views through an uncertainty-driven motion planner. We introduce a…
Autonomous flight in unknown environments requires precise spatial and temporal trajectory planning, often involving computationally expensive nonconvex optimization prone to local optima. To overcome these challenges, we present the…
Existing view planning systems either adopt an iterative paradigm using next-best views (NBV) or a one-shot pipeline relying on the set-covering view-planning (SCVP) network. However, neither of these methods can concurrently guarantee both…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
This work presents an innovative solution for robotic odometry, path planning and exploration in wild unknown environments, focusing on digital modelling. The approach uses a minimum cost formulation with pseudo-randomly generated…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…
While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…
In this paper, we tackle the problem of active robotic 3D reconstruction of an object. In particular, we study how a mobile robot with an arm-held camera can select a favorable number of views to recover an object's 3D shape efficiently.…
Efficient data collection methods play a major role in helping us better understand the Earth and its ecosystems. In many applications, the usage of unmanned aerial vehicles (UAVs) for monitoring and remote sensing is rapidly gaining…
The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyond visual line of sight is expected to open important future opportunities in the area of transportation, goods delivery, and system monitoring. A key challenge in…
We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and…
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…
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…
3D scene models are useful in robotics for tasks such as path planning, object manipulation, and structural inspection. We consider the problem of creating a 3D model using depth images captured by a team of multiple robots. Each robot…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…