相关论文: Localization and Mapping of Sparse Geologic Featur…

Using low-frequency (UHF to L-band) ultra-wideband (UWB) synthetic aperture radar (SAR) technology for detecting buried and obscured targets, e.g. bomb or mine, has been successfully demonstrated recently. Despite promising recent progress,…

This paper presents a novel approach to build consistent 3D maps for multi robot cooperation in USAR environments. The sensor streams from unmanned aerial vehicles (UAVs) and ground robots (UGV) are fused in one consistent map. The UAV…

In this paper, we present an approach for dynamic exploration and mapping of unknown environments using a swarm of biobotic sensing agents, with a stochastic natural motion model and a leading agent (e.g., an unmanned aerial vehicle). The…

Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…

Relative localization of unmanned aerial vehicle (UAV) swarms in global navigation satellite system (GNSS) denied environments is essential for emergency rescue and battlefield reconnaissance. Existing methods suffer from significant…

For high-level geo-spatial applications and intelligent robotics, accurate global pose information is of crucial importance. Map-aided localization is a universal approach to overcome the limitations of global navigation satellite system…

3D object reconstruction based on deep neural networks has gained increasing attention in recent years. However, 3D reconstruction of underground objects to generate point cloud maps remains a challenge. Ground Penetrating Radar (GPR) is…

Efficient localization plays a vital role in many modern applications of Unmanned Ground Vehicles (UGV) and Unmanned aerial vehicles (UAVs), which would contribute to improved control, safety, power economy, etc. The ubiquitous 5G NR (New…

This paper studies optimal unmanned aerial vehicle (UAV) placement to ensure line-of-sight (LOS) communication and sensing for a cluster of ground users possibly in deep shadow, while the UAV maintains backhaul connectivity with a base…

This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…

This paper presents an infrastructure-free approach for obstacle detection and environmental mapping using ultra-wideband (UWB) radar mounted on a mobile robotic platform. Traditional sensing modalities such as visual cameras and Light…

Homography estimation between multiple aerial images can provide relative pose estimation for collaborative autonomous exploration and monitoring. The usage on a robotic system requires a fast and robust homography estimation algorithm. In…

LiDAR (Light Detection and Ranging) has become an essential part of the remote sensing toolbox used for biosphere monitoring. In particular, LiDAR provides the opportunity to map forest leaf area with unprecedented accuracy, while leaf area…

Unmanned Aerial Vehicles (UAVs) are increasingly essential in various fields such as surveillance, reconnaissance, and telecommunications. This study aims to develop a learning algorithm for the path planning of UAV wireless communication…

In recent years, unmanned aerial vehicles (UAVs) have been considered for telecommunications purposes as relays, caches, or IoT data collectors. In addition to being easy to deploy, their maneuverability allows them to adjust their location…

High-resolution soil moisture (SM) observations are critical for agricultural monitoring, forestry management, and hazard prediction, yet current satellite passive microwave missions cannot directly provide retrievals at tens-of-meter…

The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improved LiDAR-inertial localization and mapping system for…

Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…