相关论文: Active Bayesian Multi-class Mapping from Range and…

Robotic exploration in large-scale environments is computationally demanding due to the high overhead of processing extensive frontiers. This article presents an OctoMap-based frontier exploration algorithm with predictable, asymptotically…

Despite the great development of multirobot technologies, efficiently and collaboratively exploring an unknown environment is still a big challenge. In this paper, we propose AIM-Mapping, a Asymmetric InforMation Enhanced Mapping framework.…

Both computational and experimental material discovery bring forth the challenge of exploring multidimensional and multimodal parameter spaces, such as phase diagrams of Hamiltonians with multiple interactions, composition spaces of…

Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…

Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…

Robotic exploration under uncertain environments is challenging when optical information is not available. In this paper, we propose an autonomous solution of exploring an unknown task space based on tactile sensing alone. We first designed…

In policy learning for robotic manipulation, sample efficiency is of paramount importance. Thus, learning and extracting more compact representations from camera observations is a promising avenue. However, current methods often assume full…

Learning from diverse offline datasets is a promising path towards learning general purpose robotic agents. However, a core challenge in this paradigm lies in collecting large amounts of meaningful data, while not depending on a human in…

Semantic segmentation of aerial imagery is an important tool for mapping and earth observation. However, supervised deep learning models for segmentation rely on large amounts of high-quality labelled data, which is labour-intensive and…

We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…

Generalizable active mapping in complex unknown environments remains a critical challenge for mobile robots. Existing methods, constrained by insufficient training data and conservative exploration strategies, exhibit limited…

Autonomous robots collaboratively exploring an unknown environment is still an open problem. The problem has its roots in coordination among non-stationary agents, each with only a partial view of information. The problem is compounded when…

This paper focuses on real-time occupancy mapping and collision checking onboard an autonomous robot navigating in an unknown environment. We propose a new map representation, in which occupied and free space are separated by the decision…

This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities of particular…

We propose a new active learning approach for efficiently estimating the geographic range of a species from a limited number of on the ground observations. We model the range of an unmapped species of interest as the weighted combination of…

In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently…

Specifying complex task behaviours while ensuring good robot performance may be difficult for untrained users. We study a framework for users to specify rules for acceptable behaviour in a shared environment such as industrial facilities.…

In this paper, we propose an integrated framework for the autonomous robotic exploration in indoor environments. Specially, we present a hybrid map, named Semantic Road Map (SRM), to represent the topological structure of the explored…

Active robot exploration requires decision-making processes that integrate localization and mapping under tightly coupled uncertainty. However, managing these interdependent uncertainties over long-term operations in large-scale…