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Level set methods are versatile and extensible techniques for general front tracking problems, including the practically important problem of predicting the advance of a firefront across expanses of surface vegetation. Given a rule,…
We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…
An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…
In a developmental framework, autonomous robots need to explore the world and learn how to interact with it. Without an a priori model of the system, this opens the challenging problem of having robots master their interface with the world:…
In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently…
Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…
One of the most useful applications of intelligent aerial robots sometimes called Unmanned Aerial Vehicles (UAV) in Australia is known to be in bushfire monitoring and prediction operations. A swarm of autonomous drones/UAVs programmed to…
Wildfires are uncontrolled fires in the environment that can be caused by humans or nature. In 2020 alone, wildfires in California have burned 4.2 million acres, damaged 10,500 buildings or structures, and killed more than 31 people,…
In this work, we support experts in the safety domain with safer dismantling of drug labs, by deploying robots for the initial inspection. Being able to act on the discovered environment is key to enabling this (semi-)autonomous inspection,…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Autonomous Science is a field of study which aims to extend the autonomy of exploration robots from low level functionality, such as on-board perception and obstacle avoidance, to science autonomy, which allows scientists to specify…
Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…
This paper proposes a new machine learning based system for forest fire earlier detection in a low-cost and accurate manner. Accordingly, it is aimed to bring a new and definite perspective to visual detection in forest fires. A drone is…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
Due to recent climate changes, we have seen more frequent and severe wildfires in the United States. Predicting wildfires is critical for natural disaster prevention and mitigation. Advances in technologies in data processing and…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…
To be useful in everyday environments, robots must be able to identify and locate real-world objects. In recent years, video object segmentation has made significant progress on densely separating such objects from background in real and…
As mobile robots find increasing use in outdoor applications, designing energy-efficient robot navigation algorithms is gaining importance. There are two primary approaches to energy efficient navigation: Offline approaches rely on a…
Situational awareness and Indoor location tracking for firefighters is one of the tasks with paramount importance in search and rescue operations. For Indoor Positioning systems (IPS), GPS is not the best possible solution. There are few…