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A single nonholonomic under-actuated mobile robot with a bounded control range travels in a 3D workspace. This workspace also hosts a compact unknown domain with a smooth boundary. The robot has access to the horizontal distance to this…
In search and rescue missions, time is an important factor; fast navigation and quickly acquiring situation awareness might be matters of life and death. Hence, the use of robots in such scenarios has been restricted by the time needed to…
This paper studies the problem of autonomous exploration under localization uncertainty for a mobile robot with 3D range sensing. We present a framework for self-learning a high-performance exploration policy in a single simulation…
In disaster-stricken environments, it's vital to assess the damage quickly, analyse the stability of the environment, and allocate resources to the most vulnerable areas where victims might be present. These missions are difficult and…
Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…
Near-field perception is essential for the safe operation of autonomous mobile robots (AMRs) in manufacturing environments. Conventional ranging sensors such as light detection and ranging (LiDAR) and ultrasonic devices provide broad…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…
As a fire erupts, the first few minutes can be critical, and first respondents must race to the scene to analyze the situation and act fast before it gets out of hand. Factors such as road traffic condition and distance may not allow quick…
In this paper we present a cooperative multi-robot strategy to adaptively explore and sample environments that are unfavorable for humans. We propose a methodology for a team of heterogeneous robots to collaborate on information based…
Forest fires pose a natural threat with devastating social, environmental, and economic implications. The rapid and highly uncertain rate of spread of wildfires necessitates a trustworthy digital tool capable of providing real-time…
In recent years, increased wildfires have caused irreversible damage to forest resources worldwide, threatening wildlives and human living conditions. The lack of accurate frontline information in real-time can pose great risks to…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
A wildland fire model based on semi-empirical relations for the spread rate of a surface fire and post-frontal heat release is coupled with the Weather Research and Forecasting atmospheric model (WRF). The propagation of the fire front is…
Firefighting is a dynamic activity, in which numerous operations occur simultaneously. Maintaining situational awareness (i.e., knowledge of current conditions and activities at the scene) is critical to the accurate decision-making…
In today's chemical plants, human field operators perform frequent integrity checks to guarantee high safety standards, and thus are possibly the first to encounter dangerous operating conditions. To alleviate their task, we present a…
Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robots are still far from having the common sense knowledge…
Ground robots require the crucial capability of traversing unstructured and unprepared terrains and avoiding obstacles to complete tasks in real-world robotics applications such as disaster response. When a robot operates in off-road field…
In recent years, teams of robot and Unmanned Aerial Vehicles (UAVs) have been commissioned by researchers to enable accurate, online wildfire coverage and tracking. While the majority of prior work focuses on the coordination and control of…
Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…