Related papers: From 2D to 3D terrain-following area coverage path…
Obtaining 3D sensor data of complete plants or plant parts (e.g., the crop or fruit) is difficult due to their complex structure and a high degree of occlusion. However, especially for the estimation of the position and size of fruits, it…
Despite the constant evolution of similarity searching research, it continues to face the same challenges stemming from the complexity of the data, such as the curse of dimensionality and computationally expensive distance functions.…
Coverage path planning is a well-studied problem in robotics in which a robot must plan a path that passes through every point in a given area repeatedly, usually with a uniform frequency. To address the scenario in which some points need…
Rooftop 3D reconstruction using UAV-based photogrammetry offers a promising solution for infrastructure assessment, but existing methods often require high percentages of image overlap and extended flight times to ensure model accuracy when…
Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods…
Motion planning in modified environments is a challenging task, as it compounds the innate difficulty of the motion planning problem with a changing environment. This renders some algorithmic methods such as probabilistic roadmaps less…
Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…
We introduce the first learning-based reconstructability predictor to improve view and path planning for large-scale 3D urban scene acquisition using unmanned drones. In contrast to previous heuristic approaches, our method learns a model…
Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…
Autonomous robots are often employed for data collection due to their efficiency and low labour costs. A key task in robotic data acquisition is planning paths through an initially unknown environment to collect observations given…
Holoscopic 3D imaging is a promising technique for capturing full colour spatial 3D images using a single aperture holoscopic 3D camera. It mimics fly's eye technique with a microlens array, which views the scene at a slightly different…
Estimating ocean flow fields in 3D is a critical step in enabling the reliable operation of underwater gliders and other small, low-powered autonomous marine vehicles. Existing methods produce depth-averaged 2D layers arranged at discrete…
Recent widespread applications for unmanned aerial vehicles (UAVs) -- from infrastructure inspection to urban logistics -- have prompted an urgent need for high-accuracy three-dimensional (3D) radio maps. However, existing methods designed…
This report overviews a set of recent contributions in the field of path planning that were developed to enable the realization of the autonomous aerial robotic worker for inspection operations. The specific algorithmic contributions…
The implementation of Autonomous Driving (AD) technologies within urban environments presents significant challenges. These challenges necessitate the development of advanced perception systems and motion planning algorithms capable of…
Within the context of optimising the logistics in agriculture this paper relates to optimal in-field routing for full and partial field coverage with arbitrary non-convex fields and multiple obstacle areas. It is distinguished between nine…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
The most crucial challenges for UAVs are planning paths and avoiding obstacles in their way. In recent years, a wide variety of path-planning algorithms have been developed. These algorithms have successfully solved path-planning problems;…
The environment of low-altitude urban airspace is complex and variable due to numerous obstacles, non-cooperative aircrafts, and birds. Unmanned aerial vehicles (UAVs) leveraging environmental information to achieve three-dimension…