Related papers: Multi-Depth Uniform Coverage Path Planning for Unm…
This paper proposes a bandwidth tunable technique for real-time probabilistic scene modeling and mapping to enable co-robotic exploration in communication constrained environments such as the deep sea. The parameters of the system enable…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
This paper presents a UAV swarm system designed to assist first responders in disaster scenarios like wildfires. By distributing sensors across multiple agents, the system extends flight duration and enhances data availability, reducing the…
Omnidirectional depth sensing has its advantage over the conventional stereo systems since it enables us to recognize the objects of interest in all directions without any blind regions. In this paper, we propose a novel wide-baseline…
This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…
Depth estimation is one of the essential tasks to be addressed when creating mobile autonomous systems. While monocular depth estimation methods have improved in recent times, depth completion provides more accurate and reliable depth maps…
Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. However, existing approaches often struggle with data…
The determination of accurate bathymetric information is a key element for near offshore activities, hydrological studies such as coastal engineering applications, sedimentary processes, hydrographic surveying as well as archaeological…
The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary information gain formulations. However, they are prone to local…
This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…
Target tracking has numerous significant civilian and military applications, and maintaining the visibility of the target plays a vital role in ensuring the success of the tracking task. Existing visibility-aware planners primarily focus on…
Depth completion and object detection are two crucial tasks often used for aerial 3D mapping, path planning, and collision avoidance of Uncrewed Aerial Vehicles (UAVs). Common solutions include using measurements from a LiDAR sensor;…
This paper presents a novel algorithm, called $\epsilon^*$+, for online coverage path planning of unknown environments using energy-constrained autonomous vehicles. Due to limited battery size, the energy-constrained vehicles have limited…
This article aims to develop novel path planning algorithms required to deploy multiple unmanned vehicles in Global Positioning System (GPS) denied environments. Unmanned vehicles (ground or aerial) are ideal platforms for executing…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
Unmanned surface vehicles (USVs) have great value with their ability to execute hazardous and time-consuming missions over water surfaces. Recently, USVs for inland waterways have attracted increasing attention for their potential…
Mapping expansive regions is an arduous and often times incomplete when performed by a single agent. In this paper we illustrate an extension of \texttt{Full SLAM} \cite{Dellaert06ijrr} and \cite{dong}, which ensures smooth maps with…
Autonomous Surface Vehicles (ASV) are becoming more affordable and include a wide variety of sensors and capacities with applications from ocean physics such as the Saildrone project to ecology with the tracking of marine species in the…
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…
Autonomous coverage has tremendous importance for environmental surveying and exploration tasks performed on rivers both in terms of efficiency and data collection quality. Most surveys of rivers are performed manually using quite similar…