相关论文: An Approach to Autonomous Science by Modeling Geol…
The promise of autonomous scientific discovery (ASD) hinges not only on answering questions, but also on knowing which questions to ask. Most recent works in ASD explore the use of large language models (LLMs) in goal-driven settings,…
Hazard detection is critical for enabling autonomous landing on planetary surfaces. Current state-of-the-art methods leverage traditional computer vision approaches to automate the identification of safe terrain from input digital elevation…
This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…
Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…
This paper presents a comprehensive methodology for implementing knowledge graphs in ROS 2 systems, aiming to enhance the efficiency and intelligence of autonomous robotic missions. The methodology encompasses several key steps: defining…
Robots are required to not only learn spatial concepts autonomously but also utilize such knowledge for various tasks in a domestic environment. Spatial concept represents a multimodal place category acquired from the robot's spatial…
Scientific discovery is poised for rapid advancement through advanced robotics and artificial intelligence. Current scientific practices face substantial limitations as manual experimentation remains time-consuming and resource-intensive,…
The process of developing theories and models and testing them with experiments is fundamental to the scientific method. Automating the entire scientific method then requires not only automation of the induction of theories from data, but…
Robotic Exploration has evolved rapidly in the past two decades as new and more complex techniques have been created to explore unknown regions efficiently. Exciting advancements in exploration, autonomous navigation, and sensor technology…
This article presents a novel and flexible multitask multilayer Bayesian mapping framework with readily extendable attribute layers. The proposed framework goes beyond modern metric-semantic maps to provide even richer environmental…
At the heart of path-planning methods for autonomous robotic exploration is a heuristic which encourages exploring unknown regions of the environment. Such heuristics are typically computed using frontier-based or information-theoretic…
Many robot applications call for autonomous exploration and mapping of unknown and unstructured environments. Information-based exploration techniques, such as Cauchy-Schwarz quadratic mutual information (CSQMI) and fast Shannon mutual…
Autonomous exploration in unknown environments using mobile robots is the pillar of many robotic applications. Existing exploration frameworks either select the nearest geometric frontier or the nearest information-theoretic frontier.…
Robots with increasing autonomy progress our space exploration capabilities, particularly for in-situ exploration and sampling to stand in for human explorers. Currently, humans drive robots to meet scientific objectives, but depending on…
In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high…
This discussion paper aims to support the argument process for the need to develop a comprehensive science of resilient robotic autonomy. Resilience and its key characteristics relating to robustness, redundancy, and resourcefulness are…
Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can…
Modern intelligent and autonomous robotic applications often require robots to have more information about their environment than that provided by traditional occupancy grid maps. For example, a robot tasked to perform autonomous semantic…
We consider an autonomous exploration problem in which a range-sensing mobile robot is tasked with accurately mapping the landmarks in an a priori unknown environment efficiently in real-time; it must choose sensing actions that both curb…
In this paper, we propose an integrated framework for the autonomous robotic exploration in indoor environments. Specially, we present a hybrid map, named Semantic Road Map (SRM), to represent the topological structure of the explored…