相关论文: Localization and Mapping of Sparse Geologic Featur…
The autonomous real-time optical navigation of planetary UAV is of the key technologies to ensure the success of the exploration. In such a GPS denied environment, vision-based localization is an optimal approach. In this paper, we proposed…
This paper presents a trustworthy framework for achieving accurate cooperative localization in multiple unmanned aerial vehicle (UAV) systems. The The Cramer-Rao Lower Bound (CRLB) for the three-dimensional (3D) cooperative localization…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
We propose a risk-aware framework for multi-robot, multi-demand assignment and planning in unknown environments. Our motivation is disaster response and search-and-rescue scenarios where ground vehicles must reach demand locations as soon…
We present a pipeline for geomorphological analysis that uses structure from motion (SfM) and deep learning on close-range aerial imagery to estimate spatial distributions of rock traits (size, roundness, and orientation) along a tectonic…
The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, the task becomes more challenging when the focus is on the…
Environment mapping is an essential prerequisite for mobile robots to perform different tasks such as navigation and mission planning. With the availability of low-cost 2D LiDARs, there are increasing applications of such 2D LiDARs in…
This paper presents a framework for the localization of Unmanned Aerial Vehicles (UAVs) in unstructured environments with the help of deep learning. A real-time rendering engine is introduced that generates optical and depth images given a…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…
This paper addresses the problem of target search and tracking using a fleet of cooperating UAVs evolving in some unknown region of interest containing an a priori unknown number of moving ground targets. Each drone is equipped with an…
Relative localization (RL) is essential for the successful operation of micro air vehicle (MAV) swarms. Achieving accurate 3-D RL in infrastructure-free and GPS-denied environments with only distance information is a challenging problem…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Autonomous navigation in mobile robots, reliant on perception and planning, faces major hurdles in large-scale, complex environments. These include heavy computational burdens for mapping, sensor occlusion failures for UAVs, and traversal…
Identification of regions affected by floods is a crucial piece of information required for better planning and management of post-disaster relief and rescue efforts. Traditionally, remote sensing images are analysed to identify the extent…
Unmanned aerial vehicle (UAV) base stations (BSs) are reliable and efficient alternative to full fill the coverage and capacity requirements when the backbone network fails to provide such requirements due to disasters. In this paper, we…
Fully automatic large-scale land cover mapping belongs to the core challenges addressed by the remote sensing community. Usually, the basis of this task is formed by (supervised) machine learning models. However, in spite of recent growth…
In radar accurate localization of unmanned aerial vehicle (UAV) swarms, the high density, similar motion parameters, small radar cross-section (RCS), strong noise and far range put forward high requirements on radar resolution and…