相关论文: Rapid and High-Fidelity Subsurface Exploration wit…
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…
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…
With the real need of field exploration in large-scale and extreme outdoor environments, cooperative exploration tasks have garnered increasing attention. This paper presents a comprehensive review of multi-robot cooperative exploration…
Collaborative multiple robots for unknown environment exploration have become mainstream due to their remarkable performance and efficiency. However, most existing methods assume perfect robots' communication during exploration, which is…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings, such as cave networks and underground mines, often involve…
This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction. Considering communication is limited in both bandwidth and range in the real world, we propose a lightweight…
Efficient exploration strategies are vital in tasks such as search-and-rescue missions and disaster surveying. Unmanned Aerial Vehicles (UAVs) have become particularly popular in such applications, promising to cover large areas at high…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
Heterogeneous multi-robot systems are advantageous for operations in unknown environments because functionally specialised robots can gather environmental information, while others perform tasks. We define this decomposition as the…
Multi-robot collaboration has become a needed component in unknown environment exploration due to its ability to accomplish various challenging situations. Potential-field-based methods are widely used for autonomous exploration because of…
Communication bandwidth is an important consideration in multi-robot exploration, where information exchange among robots is critical. While existing methods typically aim to reduce communication throughput, they either require significant…
Efficient data transmission and reasonable task allocation are important to improve multi-robot exploration efficiency. However, most communication data types typically contain redundant information and thus require massive communication…
This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…
In indoor environments, multi-robot visual (RGB-D) mapping and exploration hold immense potential for application in domains such as domestic service and logistics, where deploying multiple robots in the same environment can significantly…
Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path…
Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees of autonomy and agility. These challenges are further…
Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…
This project proposes a bioinspired multi-robot system using Distributed Optimization for efficient exploration and mapping of unknown environments. Each robot explores its environment and creates a map, which is afterwards put together to…