相关论文: Autonomous Robot Navigation with Rich Information …

In this paper, we present an approach for coverage path planning for a team of an energy-constrained Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). Both the UAV and the UGV have predefined areas that they have to cover.…

The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…

This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…

This paper overviews certain radiation detection, perception, and planning challenges for nuclearized robotics that aim to support the waste management and decommissioning mission. To enable the autonomous monitoring, inspection and…

We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…

Informative path planning (IPP) is used to design paths for robotic sensor platforms to extract the best/maximum possible information about a quantity of interest while operating under a set of constraints, such as the dynamic feasibility…

Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…

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…

Performing an inspection task while maintaining the privacy of the inspected site is a challenging balancing act. In this work, we are motivated by the future of nuclear arms control verification, which requires both a high level of privacy…

This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…

We propose a novel hybrid system (both hardware and software) of an Unmanned Aerial Vehicle (UAV) carrying a miniature Unmanned Ground Vehicle (miniUGV) to perform a complex search and manipulation task. This system leverages heterogeneous…

This paper presents a BIM-discrepancy-driven active sensing framework for cooperative navigation between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in dynamic construction environments. Traditional navigation…

To achieve autonomy in unknown and unstructured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is crucial for safe and efficient robot navigation in environment with…

This article introduces a novel method for converting 3D voxel maps, commonly utilized by robots for localization and navigation, into 2D occupancy maps for both unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). The…

This paper reports on developing an integrated framework for safety-aware informative motion planning suitable for legged robots. The information-gathering planner takes a dense stochastic map of the environment into account, while safety…

In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…

In the last decade, autonomous navigation for roboticshas been leveraged by deep learning and other approachesbased on machine learning. These approaches have demon-strated significant advantages in robotics performance. Butthey have the…

In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…

Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and…

Fast moving unmanned aerial vehicles (UAVs) are well suited for aerial surveillance, but are limited by their battery capacity. To increase their endurance UAVs can be refueled on slow moving unmanned ground vehicles (UGVs). The cooperative…