相关论文: Dual Control for Exploitation and Exploration (DCE…

Utilizing autonomous drones or unmanned aerial vehicles (UAVs) has shown great advantages over preceding methods in support of urgent scenarios such as search and rescue (SAR) and wildfire detection. In these operations, search efficiency…

This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…

The use of autonomous vehicles for chemical source localisation is a key enabling tool for disaster response teams to safely and efficiently deal with chemical emergencies. Whilst much work has been performed on source localisation using…

In recent years, learning-based control in robotics has gained significant attention due to its capability to address complex tasks in real-world environments. With the advances in machine learning algorithms and computational capabilities,…

Efficient robotic exploration of unknown, sensor limited, global-information-deficient environments poses unique challenges to path planning algorithms. In these difficult environments, no deterministic guarantees on path completion and…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

This work addresses the problem of robot manipulation tasks under unknown dynamics, such as pick-and-place tasks under payload uncertainty, where active exploration and(/for) online parameter adaptation during task execution are essential…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can…

Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the…

Dual control explicitly addresses the problem of trading off active exploration and exploitation in the optimal control of partially unknown systems. While the problem can be cast in the framework of stochastic dynamic programming, exact…

Data-driven control in unknown environments requires a clear understanding of the involved uncertainties for ensuring safety and efficient exploration. While aleatoric uncertainty that arises from measurement noise can often be explicitly…

In this paper, we propose SEA, a novel approach for active robot exploration through semantic map prediction and a reinforcement learning-based hierarchical exploration policy. Unlike existing learning-based methods that rely on one-step…

This paper presents a novel partial differential equation (PDE)-based framework for controlling an ensemble of robots, which have limited sensing and actuation capabilities and exhibit stochastic behaviors, to perform mapping and coverage…

This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…

This paper addresses the problem of enabling a robot to search for a semantic object, i.e., an object with a semantic label, in an unknown and GPS-denied environment. For the robot in the unknown environment to detect and find the target…

Active search, in applications like environment monitoring or disaster response missions, involves autonomous agents detecting targets in a search space using decision making algorithms that adapt to the history of their observations.…

Autonomous exploration is one of the important parts to achieve the fast autonomous mapping and target search. However, most of the existing methods are facing low-efficiency problems caused by low-quality trajectory or back-and-forth…

Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned…

Numerous heuristics and advanced approaches have been proposed for exploration in different settings for deep reinforcement learning. Noise-based exploration generally fares well with dense-shaped rewards and bonus-based exploration with…