相关论文: Robot Development and Path Planning for Indoor Ult…

In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…

An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…

We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…

In this paper we propose a number of tested ways in which a low-budget demo car could be made to navigate an indoor environment. Canny Edge Detection, Supervised Floor Detection and Imitation Learning were used separately and are contrasted…

In this paper, the problem of dynamical deployment of unmanned aerial vehicles (UAVs) equipped with visible light communication (VLC) capabilities for optimizing the energy efficiency of UAV-enabled networks is studied. In the studied…

The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…

Indoor positioning systems (IPSs) have gained attention as outdoor navigation becomes prevalent in everyday life. Research is being actively conducted on how indoor smartphone navigation can be accomplished and improved using received…

While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…

Performing rescuing and surveillance operations with autonomous ground and aerial vehicles become more and more apparent task. Involving unmanned robot systems allows making these operations more efficient, safe and reliable especially in…

This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…

Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…

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…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

Photovoltaic (PV) panels are becoming increasingly widespread in the domain of renewable energy, and thus, small efficiency gains can have massive effects. Anti-reflective and self-cleaning coatings enhance panel performance but degrade…

The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…

This paper introduces a low-cost experimental mockup to simulate the laser cutting process of containers in nuclear decommissioning. It is composed of a three-axis table supporting a cuboid container with ultraviolet-sensitive faces, a…

Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…

With the incremental development of robotic platforms to automate the manual processes, path planning has become a critical domain with or without the knowledge of the indoor and outdoor environment. The algorithms can be intelligent or…

This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…

We present UbiSLAM, an innovative solution for real-time mapping and localization in dynamic indoor environments. By deploying a network of fixed RGB-D cameras strategically throughout the workspace, UbiSLAM addresses limitations commonly…