相关论文: Planning Safe Paths through Hazardous Environments

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they…

Autonomous underwater vehicles (AUVs) play a crucial role in surveying marine environments, carrying out underwater inspection tasks, and ocean exploration. However, in order to ensure that the AUV is able to carry out its mission…

This paper presents a modular software architecture that enables environmental-aware coordination of heterogeneous Autonomous Underwater Vehicles (AUVs) to improve underwater acoustic connectivity. The architecture combines a Robot…

In this paper, we introduce an informative path planning (IPP) framework for active classification using unmanned aerial vehicles (UAVs). Our algorithm uses a combination of global viewpoint selection and evolutionary optimization to refine…

We present a scalable combined localization infrastructure deployment and task planning algorithm for underwater assembly. Infrastructure is autonomously modified to suit the needs of manipulation tasks based on an uncertainty model on the…

Cellular networks are promising to support effective wireless communications for unmanned aerial vehicles (UAVs), which will help to enable various long-range UAV applications. However, these networks are optimized for terrestrial users,…

One use of Autonomous Underwater Vehicles (AUVs) is the monitoring of habitats associated with threatened, endangered and protected marine species, such as the handfish of Tasmania, Australia. Seafloor imagery collected by AUVs can be used…

Up until now, path planning for unmanned aerial vehicles (UAVs) has mainly been focused on the optimisation towards energy efficiency. However, to operate UAVs safely, wireless coverage is of utmost importance. Currently, deployed cellular…

Autonomous navigation in off-road environments remains a significant challenge in field robotics, particularly for Unmanned Ground Vehicles (UGVs) tasked with search and rescue, exploration, and surveillance. Effective long-range planning…

In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…

In this paper, we present a path planner for low-altitude terrain coverage in known environments with unmanned rotary-wing micro aerial vehicles (MAVs). Airborne systems can assist humanitarian demining by surveying suspected hazardous…

In this paper, we consider the problem of using a robot to explore an environment with an unknown, state-dependent disturbance function while avoiding some forbidden areas. The goal of the robot is to safely collect observations of the…

This paper presents a new swarm intelligence-based approach to deal with the cooperative path planning problem of unmanned aerial vehicles (UAVs), which is essential for the automatic inspection of infrastructure. The approach uses a 3D…

Efficient and reliable generation of global path plans are necessary for safe execution and deployment of autonomous systems. In order to generate planning graphs which adequately resolve the topology of a given environment, many…

To eliminate the effect of ocean currents when addressing the optimal path in the underwater environment, an intelligent algorithm designed for the unmanned underwater vehicle (UUV) is proposed in this paper. The algorithm consists of two…

Autonomously searching for hazardous radiation sources requires the ability of the aerial and ground systems to understand the scene they are scouting. In this paper, we present systems, algorithms, and experiments to perform radiation…

Post-disaster situations pose unique navigation challenges. One of those challenges is the unstructured nature of the environment, which makes it hard to layout paths for rescue vehicles. We propose the use of Uncrewed Aerial Vehicle (UAV)…

This work presents a number of techniques to improve the ability to create magnetic field maps on a UAV which can be used to quickly and reliably gather magnetic field observations at multiple altitudes in a workspace. Unfortunately, the…

This paper presents a method for cave surveying in total darkness using an autonomous aerial vehicle equipped with a depth camera for mapping, downward-facing camera for state estimation, and forward and downward lights. Traditional methods…

We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…