相关论文: FAEP: Fast Autonomous Exploration Planner for UAV …

Autonomous exploration is one of the important parts to achieve the fast autonomous mapping and target search. However, most of the existing methods are facing low-efficiency problems caused by low-quality trajectory or back-and-forth…

Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles(UAVs). Existing methods, however, are demonstrated to static local optima and two-dimensional exploration. To address these challenges,…

In this paper, we propose a systematic framework for fast exploration of complex and large 3-D environments using micro aerial vehicles (MAVs). The key insight is the organic integration of the frontier-based and sampling-based strategies…

Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles. Existing methods, however, were demonstrated to insufficient exploration rate, due to the lack of efficient global coverage, conservative…

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…

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they…

Exploration and collision-free navigation through an unknown environment is a fundamental task for autonomous robots. In this paper, a novel exploration strategy for Micro Aerial Vehicles (MAVs) is presented. The goal of the exploration…

Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes depends on consistent mapping and pose estimation. However,…

Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles (UAVs). Recently, LiDAR-based exploration has gained significant attention due to its ability to generate high-precision point cloud maps…

Exploration in dynamic and uncertain real-world environments is an open problem in robotics and constitutes a foundational capability of autonomous systems operating in most of the real world. While 3D exploration planning has been…

Efficient autonomous exploration in large-scale environments remains challenging due to the high planning computational cost and low-speed maneuvers. In this paper, we propose a fast and computationally efficient dual-layer exploration…

Classic exploration methods often rely on dense occupancy maps or high-resolution point clouds for frontier detection and path planning, resulting in substantial memory consumption and computational overhead. Moreover, micro UAVs under…

This paper introduces FALCON, a novel Fast Autonomous expLoration framework using COverage path guidaNce, which aims at setting a new performance benchmark in the field of autonomous aerial exploration. Despite recent advancements in the…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

Autonomous exploration in complex and cluttered environments is essential for various applications. However, there are many challenges due to the lack of global heuristic information. Existing exploration methods suffer from the repeated…

Exploring an unknown environment without colliding with obstacles is one of the essentials of autonomous vehicles to perform diverse missions such as structural inspections, rescues, deliveries, and so forth. Therefore, unmanned aerial…

Autonomous exploration is a widely studied fundamental application in the field of quadrotors, which requires them to automatically explore unknown space to obtain complete information about the environment. The frontier-based method, which…

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…

An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…

This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…