相关论文: Estimation and Planning of Exploration Over Grid M…

Unmanned Aerial Vehicle (UAV) path planning algorithms often assume a knowledge reward function or priority map, indicating the most important areas to visit. In this paper we propose a method to create priority maps for monitoring or…

Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environments such as disaster zones, contaminated sites, wildfire areas, and damaged infrastructure, where limited flight endurance must be…

Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…

This paper proposes a state-machine model for a multi-modal, multi-robot environmental sensing algorithm. This multi-modal algorithm integrates two different exploration algorithms: (1) coverage path planning using variable formations and…

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…

One of the most critical features for the successful operation of autonomous UAVs is the ability to make decisions based on the information acquired from their surroundings. Each UAV must be able to make decisions during the flight in order…

Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…

Online state-time trajectory planning in highly dynamic environments remains an unsolved problem due to the unpredictable motions of moving obstacles and the curse of dimensionality from the state-time space. Existing state-time planners…

The capability of autonomous exploration in complex, unknown environments is important in many robotic applications. While recent research on autonomous exploration have achieved much progress, there are still limitations, e.g., existing…

This paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption of the employed…

An unmanned autonomous vehicle (UAV) is sent on a mission to explore and reconstruct an unknown environment from a series of measurements collected by Bayesian optimization. The success of the mission is judged by the UAV's ability to…

In this work, our goal is to extend the existing search and rescue paradigm by allowing teams of autonomous unmanned aerial vehicles (UAVs) to collaborate effectively with human searchers on the ground. We derive a framework that includes a…

Air traffic can be significantly disrupted by weather. Pathfinder operations involve assigning a designated aircraft to assess whether airspace that was previously impacted by weather can be safely traversed through. Despite relatively…

This 'research preview' paper introduces an adaptive path planning framework for robotic mission execution in assistive-care applications. The framework provides a graph-based environment modelling approach, with dynamic path finding…

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…

Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…

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…

Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…

The success of surveillance applications involving small unmanned aerial vehicles (UAVs) depends on how long the limited on-board power would persist. To cope with this challenge, alternative renewable sources of lift are sought. One…

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…