相关论文: Robustness-Driven Exploration with Probabilistic M…

Path planning is a fundamental capability of autonomous Unmanned Aerial Vehicles (UAVs), enabling them to efficiently navigate toward a target region or explore complex environments while avoiding obstacles. Traditional pathplanning…

This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…

We address the problem of controlling a mobile robot to explore a partially known environment. The robot's objective is the maximization of the amount of information collected about the environment. We formulate the problem as a partially…

This paper is devoted to the search of robust solutions in state space graphs when costs depend on scenarios. We first present axiomatic requirements for preference compatibility with the intuitive idea of robustness.This leads us to…

Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes depends on consistent mapping and pose estimation. However,…

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…

Autonomous systems, like vehicles or robots, require reliable, accurate, fast, resource-efficient, scalable, and low-latency trajectory predictions to get initial knowledge about future locations and movements of surrounding objects for…

Many scenarios require a robot to be able to explore its 3D environment online without human supervision. This is especially relevant for inspection tasks and search and rescue missions. To solve this high-dimensional path planning problem,…

Autonomous exploration is one of the important parts to achieve the fast autonomous mapping and target search. However, most of the existing methods are facing low-efficiency problems caused by low-quality trajectory or back-and-forth…

Being able to explore unknown environments is a requirement for fully autonomous robots. Many learning-based methods have been proposed to learn an exploration strategy. In the frontier-based exploration, learning algorithms tend to learn…

We study reward-free and reward-agnostic exploration in episodic finite-horizon Markov decision processes (MDPs), where an agent explores an unknown environment without observing external rewards. Reward-free exploration aims to enable…

The process of discovery requires active exploration -- the act of collecting new and informative data. However, efficient autonomous exploration remains a major unsolved problem. The dominant paradigm addresses this challenge by using…

One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data…

In mixed-autonomy traffic networks, autonomous vehicles (AVs) are required to make sequential routing decisions under uncertainty caused by dynamic and heterogeneous interactions with human-driven vehicles (HDVs). Early-stage greedy…

Learning complex robot behaviors through interaction requires structured exploration. Planning should target interactions with the potential to optimize long-term performance, while only reducing uncertainty where conducive to this…

For scenes such as floods and earthquakes, the disaster area is large, and rescue time is tight. Multi-UAV exploration is more efficient than a single UAV. Existing UAV exploration work is modeled as a Coverage Path Planning (CPP) task to…

Self-supervised goal proposal and reaching is a key component for exploration and efficient policy learning algorithms. Such a self-supervised approach without access to any oracle goal sampling distribution requires deep exploration and…

This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings, such as cave networks and underground mines, often involve…

This work presents a fully integrated tree-based combined exploration-planning algorithm: Exploration-RRT (ERRT). The algorithm is focused on providing real-time solutions for local exploration in a fully unknown and unstructured…

In environments with uncertain dynamics exploration is necessary to learn how to perform well. Existing reinforcement learning algorithms provide strong exploration guarantees, but they tend to rely on an ergodicity assumption. The essence…