相关论文: GATSBI: An Online GTSP-Based Algorithm for Targete…
To carry out autonomous 3D scanning and online reconstruction of unknown indoor scenes, one has to find a balance between global exploration of the entire scene and local scanning of the objects within it. In this work, we propose a novel…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Graph routing problems play a vital role in web-related networks, where finding optimal paths across graphs is essential for efficient data transmission and content delivery. Classic routing formulations such as the Traveling Salesman…
This paper investigates an efficient algorithm for trajectory planning problem of autonomous unmanned aerial vehicles which fly over three-dimensional terrains. The proposed algorithm combines convex optimization with disjunctive…
Autonomous exploration in unknown environments is key for mobile robots, helping them perceive, map, and make decisions in complex areas. However, current methods often rely on frequent global optimization, suffering from high computational…
The generalized traveling salesman problem (GTSP) is an extension of the well-known traveling salesman problem. In GTSP, we are given a partition of cities into groups and we are required to find a minimum length tour that includes exactly…
Unmanned aerial vehicles (UAVs) have gained popularity due to their flexible mobility, on-demand deployment, and the ability to establish high probability line-of-sight wireless communication. As a result, UAVs have been extensively used as…
Numerous remarkable advancements have been made in accuracy, speed, and parallelism for solving the Unmanned Aerial Vehicle Route Planing (UAVRP). However, existing UAVRP solvers face challenges when attempting to scale effectively and…
Consider an unmanned aerial vehicle (UAV) that searches for an unknown number of targets at unknown positions in 3D space. A particle filter uses imperfect measurements about the targets to update an intensity function that represents the…
This study presents an inspecting system using real-time control unmanned aerial vehicles (UAVs) to investigate structural surfaces. The system operates under favourable weather conditions to inspect a target structure, which is the…
We present Gaussian Splatting Anisotropic Visibility Field (GAVIS), a novel framework for uncertainty quantification and active mapping in 3DGS. Our key insight is that regions unseen from the training views yield unreliable predictions…
The paper proposes a quantum algorithm for the traveling salesman problem (TSP) based on the Grover Adaptive Search (GAS), which can be successfully executed on IBM's Qiskit library. Under the GAS framework, there are at least two…
We present NVSim, a framework that automatically constructs large-scale, navigable indoor simulators from only common image sequences, overcoming the cost and scalability limitations of traditional 3D scanning. Our approach adapts 3D…
Bridge inspection is an important step in preserving and rehabilitating transportation infrastructure for extending their service lives. The advancement of mobile robotic technology allows the rapid collection of a large amount of…
We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…
Dangerous surroundings and difficult-to-reach landscapes introduce significant complications for adequate disaster management and recuperation. These problems can be solved by engaging unmanned aerial vehicles (UAVs) provided with embedded…
Generating a bird's eye view of road users is beneficial for a variety of applications, including navigation, detecting agent conflicts, and measuring space occupancy, as well as the ability to utilise the metric system to measure distances…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
In airborne light detection and ranging (LiDAR) systems, misalignments between the LiDAR-scanner and the inertial navigation system (INS) mounted on an unmanned aerial vehicle (UAV)'s frame can lead to inaccurate 3D point clouds.…
In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…