相关论文: Graph Gain: A Concave-Hull Based Volumetric Gain f…

In this work, we present a method for a probabilistic fusion of external depth and onboard proximity data to form a volumetric 3-D map of a robot's environment. We extend the Octomap framework to update a representation of the area around…

Numerous machine learning problems require an exploration basis - a mechanism to explore the action space. We define a novel geometric notion of exploration basis with low variance, called volumetric spanners, and give efficient algorithms…

Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…

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…

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…

In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…

Rapidly-exploring Random Trees (RRTs) are a popular technique for autonomous exploration of mobile robots. However, the random sampling used by RRTs can result in inefficient and inaccurate frontiers extraction, which affects the…

In this paper, we propose a method for generating a hierarchical, volumetric topological map from 3D point clouds. There are three basic hierarchical levels in our map: $storey - region - volume$. The advantages of our method are reflected…

In this paper, we propose a method that, given a partial grid map of an indoor environment built by an autonomous mobile robot, estimates the amount of the explored area represented in the map, as well as whether the uncovered part is still…

Autonomous exploration is a crucial aspect of robotics that has numerous applications. Most of the existing methods greedily choose goals that maximize immediate reward. This strategy is computationally efficient but insufficient for…

Autonomous exploration in mobile robotics often involves a trade-off between two objectives: maximizing environmental coverage and minimizing the total path length. In the widely used information gain paradigm, exploration is guided by the…

During the last decade, incremental sampling-based motion planning algorithms, such as the Rapidly-exploring Random Trees (RRTs) have been shown to work well in practice and to possess theoretical guarantees such as probabilistic…

Conventional algorithms in autonomous exploration face challenges due to their inability to accurately and efficiently identify the spatial distribution of convex regions in the real-time map. These methods often prioritize navigation…

Exploration in an unknown environment is the core functionality for mobile robots. Learning-based exploration methods, including convolutional neural networks, provide excellent strategies without human-designed logic for the feature…

In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…

Autonomous exploration of multi-floor buildings remains challenging for ground robots because conventional 2D and 2.5D maps cannot represent overlapping traversable surfaces such as stairs, ramps, and multiple reachable elevations. This…

Path planning for robotic exploration is challenging, requiring reasoning over unknown spaces and anticipating future observations. Efficient exploration requires selecting budget-constrained paths that maximize information gain. Despite…

Many robotic exploration algorithms rely on graph structures for frontier-based exploration and dynamic path planning. However, these graphs grow rapidly, accumulating redundant information and impacting performance. We present a…

Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…

Motion planning for a multi-limbed climbing robot must consider the robot's posture, joint torques, and how it uses contact forces to interact with its environment. This paper focuses on motion planning for a robot that uses nontraditional…