相关论文: Online Informative Path Planning for Active Inform…

Swarm robotic search is concerned with searching targets in unknown environments (e.g., for search and rescue or hazard localization), using a large number of collaborating simple mobile robots. In such applications, decentralized swarm…

The theoretical investigation of gas adsorption, storage, separation, diffusion and related transport processes in porous materials relies on a detailed knowledge of the potential energy surface of molecules in a stationary environment. In…

We propose an algorithm to (i) learn online a deep signed distance function (SDF) with a LiDAR-equipped robot to represent the 3D environment geometry, and (ii) plan collision-free trajectories given this deep learned map. Our algorithm…

3D Scene Graphs integrate both metric and semantic information, yet their structure remains underutilized for improving path planning efficiency and interpretability. In this work, we present S-Path, a situationally-aware path planner that…

Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused…

This paper presents a new approach to obtaining nearly complete coverage paths (CP) with low overlapping on 3D general surfaces using mesh models. The CP is obtained by segmenting the mesh model into a given number of clusters using…

Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…

An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…

This study explores the problem of Multi-Agent Path Finding with continuous and stochastic travel times whose probability distribution is unknown. Our purpose is to manage a group of automated robots that provide package delivery services…

We consider a cooperative vehicle routing problem for surveillance and reconnaissance missions with communication constraints between the vehicles. We propose a framework which involves a ground vehicle and an aerial vehicle; the vehicles…

This paper deals with the problem of informative path planning for a UAV deployed for precision agriculture applications. First, we observe that the ``fear of missing out'' data lead to uniform, conservative scanning policies over the whole…

Rendering volumetric scattering media, including clouds, fog, smoke, and other complex materials, is crucial for realism in computer graphics. Traditional path tracing, while unbiased, requires many long path samples to converge in scenes…

Object surface reconstruction brings essential benefits to robot grasping, object recognition, and object manipulation. When measuring the surface distribution of an unknown object by tapping, the greatest challenge is to select tapping…

Learning-based 3D Scanning plays a crucial role in enabling efficient and accurate scanning of target objects. However, recent reinforcement learning-based methods often require large-scale training data and still struggle to generalize to…

We introduce ActiveGAMER, an active mapping system that utilizes 3D Gaussian Splatting (3DGS) to achieve high-quality, real-time scene mapping and exploration. Unlike traditional NeRF-based methods, which are computationally demanding and…

We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…

In this paper we present a cooperative multi-robot strategy to adaptively explore and sample environments that are unfavorable for humans. We propose a methodology for a team of heterogeneous robots to collaborate on information based…

This paper explores the problem of path planning under uncertainty. Specifically, we consider online receding horizon based planners that need to operate in a latent environment where the latent information can be modeled via Gaussian…

Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…

This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…