Related papers: From 2D to 3D terrain-following area coverage path…
The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. This paper presents trajectory planning for three-dimensional autonomous multi-UAV…
This survey gives a brief overview of theoretically and practically relevant algorithms to compute geodesic paths and distances on three-dimensional surfaces. The survey focuses on polyhedral three-dimensional surfaces.
With the forecast increase in air traffic demand over the next decades, it is imperative to develop tools to provide traffic flow managers with the information required to support decision making. In particular, decision-support tools for…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
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,…
With the popularity of drone technologies, aerial photography has become prevalent in many daily scenarios such as environment monitoring, structure inspection, law enforcement etc. A central challenge in this domain is the efficient…
In this paper, we address the problem of adaptive path planning for accurate semantic segmentation of terrain using unmanned aerial vehicles (UAVs). The usage of UAVs for terrain monitoring and remote sensing is rapidly gaining momentum due…
This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface inspection focus on planning a path offline that can provide…
Procedural terrain generation is the process of generating a digital representation of terrain using a computer program or procedure, with little to no human guidance. This paper proposes a procedural terrain generation algorithm based on a…
Recent advances in image acquisition and scene reconstruction have enabled the generation of high-quality structural urban scene geometry, given sufficient site information. However, current capture techniques often overlook the crucial…
Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…
Currently, state-of-the-art exploration methods maintain high-resolution map representations in order to optimize exploration goals in each step that maximizes information gain. However, during exploring, those "optimal" selections could…
In many applications of autonomous mobile robots the following problem is encountered. Two maps of the same environment are available, one a prior map and the other a sensor map built by the robot. To benefit from all available information…
In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradient map to make simple and adaptable cost map. This map can be…
This paper addresses outdoor terrain mapping using overhead images obtained from an unmanned aerial vehicle. Dense depth estimation from aerial images during flight is challenging. While feature-based localization and mapping techniques can…
Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…
Procedural 3D Terrain generation has become a necessity in open world games, as it can provide unlimited content, through a functionally infinite number of different areas, for players to explore. In our approach, we use Generative…
Pathfinding is a very popular area in computer game development. While two-dimensional (2D) pathfinding is widely applied in most of the popular game engines, little implementation of real three-dimensional (3D) pathfinding can be found.…
Writing an uncomplicated, robust, and scalable three-dimensional convex hull algorithm is challenging and problematic. This includes, coplanar and collinear issues, numerical accuracy, performance, and complexity trade-offs. While there are…
In aerial visual area coverage missions, the camera footprint changes over time based on the camera position and orientation -- a fact that complicates the whole process of coverage and path planning. This article proposes a solution to the…