相关论文: GATSBI: An Online GTSP-Based Algorithm for Targete…

Bridges are an essential part of the transportation infrastructure and need to be monitored periodically. Visual inspections by dedicated teams have been one of the primary tools in structural health monitoring (SHM) of bridge structures.…

We study cooperative shortest path planning for an unmanned ground vehicle (UGV) assisted by an unmanned aerial vehicle (UAV) in environments with unknown road blockages that are only discovered when a robot reaches the damaged point. This…

Varying terrain conditions and limited field-of-view restricts the visibility of aerial robots while performing visual monitoring operations. In this paper, we study the multi-point monitoring problem on a 2.5D terrain using an unmanned…

Solving the Traveling Salesman Problem (TSP) is NP-hard yet fundamental for a wide range of real-world applications. Classical exact methods face challenges in scaling, and heuristic methods often require domain-specific parameter…

We present GATSBI, a generative model that can transform a sequence of raw observations into a structured latent representation that fully captures the spatio-temporal context of the agent's actions. In vision-based decision-making…

Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…

In this letter, we study a cellular-connected unmanned aerial vehicle (UAV) which aims to complete a mission of flying between two pre-determined locations while maintaining satisfactory communication quality with the ground base stations…

Unmanned Aerial Vehicles (UAVs) offer a promising solution for enhancing wireless connectivity and Quality of Service (QoS) in urban environments, acting as aerial Wi-Fi access points or cellular base stations. Their flexibility and rapid…

Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…

In this paper we study the problem of steering a team of Unmanned Aerial Vehicles (UAVs) toward a static configuration which maximizes the visibility of a 3D environment. The UAVs are assumed to be equipped with visual sensors constrained…

This article explores an approach to addressing the Close Enough Traveling Salesman Problem (CETSP). The objective is to streamline the mathematical formulation by introducing reformulations that approximate the Euclidean distances and…

This paper presents a real-time control system for surface inspection using multiple unmanned aerial vehicles (UAVs). The UAVs are coordinated in a specific formation to collect data of the inspecting objects. The communication platform for…

In the maritime sector, safe vessel navigation is of great importance, particularly in congested harbors and waterways. The focus of this work is to estimate the distance between an object of interest and potential obstacles using a…

In the realm of autonomous driving, accurately detecting surrounding obstacles is crucial for effective decision-making. Traditional methods primarily rely on 3D bounding boxes to represent these obstacles, which often fail to capture the…

For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…

In embodied vision, Instance ImageGoal Navigation (IIN) requires an agent to locate a specific object depicted in a goal image within an unexplored environment. The primary challenge of IIN arises from the need to recognize the target…

Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…

We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…

Viewpoint planning is critical for efficient 3D data acquisition in applications such as 3D reconstruction, building life-cycle management, navigation, and interior decoration. However, existing methods often neglect key optimization…

The environment of low-altitude urban airspace is complex and variable due to numerous obstacles, non-cooperative aircrafts, and birds. Unmanned aerial vehicles (UAVs) leveraging environmental information to achieve three-dimension…