Related papers: From 2D to 3D terrain-following area coverage path…
This article addresses the problem of Cooperative Coverage Path Planning (C-CPP) for the inspection of complex infrastructures (offline 3D reconstruction) by utilizing multiple Unmanned Autonomous Vehicles (UAVs). The proposed scheme, based…
Path planning for high-speed unmanned surface vehicles requires more complex solutions to reduce sailing time and save energy. This article proposes a new predictive artificial potential field that incorporates time information and…
Algorithmic approaches to exhaustive coverage have application in video games, enabling automatic game level exploration. Current designs use simple heuristics that frequently result in poor performance or exhibit unnatural behaviour. In…
Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles,…
Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…
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.…
This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is…
For real applications of unmanned aerial vehicles, the capability of navigating with full autonomy in unknown environments is a crucial requirement. However, planning a shorter path with less computing time is contradictory. To address this…
Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…
3D scene modeling techniques serve as the bedrocks in the geospatial engineering and computer science, which drives many applications ranging from automated driving, terrain mapping, navigation, virtual, augmented, mixed, and extended…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…
Geometric methods for solving open-world off-road navigation tasks, by learning occupancy and metric maps, provide good generalization but can be brittle in outdoor environments that violate their assumptions (e.g., tall grass).…
Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, especially in rough, uneven terrains. This paper proposed a…
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…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
Large-scale scene data is essential for training and testing in robot learning. Neural reconstruction methods have promised the capability of reconstructing large physically-grounded outdoor scenes from captured sensor data. However, these…
This paper presents a Riemannian metric-based model to solve the optimal path planning problem on two-dimensional smooth submanifolds in high-dimensional space. Our model is based on constructing a new Riemannian metric on a two-dimensional…
Several aspects of managing a sensor network (e.g., motion planning for data mules, serial data fusion and inference) benefit once the network is linearized to a path. The linearization is often achieved by constructing a space filling…
This letter suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module…
We present a novel area matching algorithm for merging two different 2D grid maps. There are many approaches to address this problem, nevertheless, most previous work is built on some assumptions, such as rigid transformation, or similar…