相关论文: CT-CPP: Coverage Path Planning for 3D Terrain Reco…
A learning-based 3D reconstruction method for long-span bridges is proposed in this paper. 3D reconstruction generates a 3D computer model of a real object or scene from images, it involves many stages and open problems. Existing…
Intelligent autonomous path planning is essential for enhancing the exploration efficiency of mobile robots operating in uneven terrains like planetary surfaces and off-road environments.In this paper, we propose the NNPP model for…
In high-density environments where numerous autonomous agents move simultaneously in a distributed manner, streamlining global flows to mitigate local congestion is crucial to maintain overall navigation efficiency. This paper introduces a…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…
Continual learning (CL) breaks off the one-way training manner and enables a model to adapt to new data, semantics and tasks continuously. However, current CL methods mainly focus on single tasks. Besides, CL models are plagued by…
The outdoor navigation capabilities of ground robots have improved significantly in recent years, opening up new potential applications in a variety of settings. Cost-based representations of the environment are frequently used in the path…
Active reconstruction technique enables robots to autonomously collect scene data for full coverage, relieving users from tedious and time-consuming data capturing process. However, designed based on unsuitable scene representations,…
Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…
The paper presents the study and implementation of the ground detection methodology with filtration and removal of forest points from LiDAR-based 3D point cloud using the Cloth Simulation Filtering (CSF) algorithm. The methodology allows to…
Autonomous navigation in offroad environments has been extensively studied in the robotics field. However, navigation in covert situations where an autonomous vehicle needs to remain hidden from outside observers remains an underexplored…
We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes potential sequences to meet spatial constraints, using them to…
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…
The published literature on topology optimization has exploded over the last two decades to include methods that use shape and topological derivatives or evolutionary algorithms formulated on various geometric representations and…
Reconstruction of CT images from a limited set of projections through an object is important in several applications ranging from medical imaging to industrial settings. As the number of available projections decreases, traditional…
Recovering the 3D shape of transparent objects using a small number of unconstrained natural images is an ill-posed problem. Complex light paths induced by refraction and reflection have prevented both traditional and deep multiview stereo…
We interleave sampling based motion planning methods with pruning ideas from minimum spanning tree algorithms to develop a new approach for solving a Multi-Goal Path Finding (MGPF) problem in high dimensional spaces. The approach alternates…
The trajectory planning problem (TPP) has become increasingly crucial in the research of next-generation transportation systems, but it presents challenges due to the non-linearity of its constraints. One specific case within TPP, namely…
We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union…
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…
Off-road environments remain significant challenges for autonomous ground vehicles, due to the lack of structured roads and the presence of complex obstacles, such as uneven terrain, vegetation, and occlusions. Traditional perception…