相关论文: Stigmergy-based, Dual-Layer Coverage of Unknown In…
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
In this paper, we address the challenge of exploring unknown indoor aerial environments using autonomous aerial robots with Size Weight and Power (SWaP) constraints. The SWaP constraints induce limits on mission time requiring efficiency in…
We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…
In real life, providing security for a set of large areas by covering the area with Unmanned Aerial Vehicles (UAVs) is a difficult problem that consist of multiple objectives. These difficulties are even greater if the area coverage must…
This article presents a unique framework for deploying decentralized and infrastructure-independent swarms of homogeneous aerial vehicles in the real world without explicit communication. This is a requirement in swarm research, which…
Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can…
If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…
Active search, in applications like environment monitoring or disaster response missions, involves autonomous agents detecting targets in a search space using decision making algorithms that adapt to the history of their observations.…
Indoor exploration is an important task in disaster relief, emergency response scenarios, and Search And Rescue (SAR) missions. Unmanned Aerial Vehicle (UAV) systems can aid first responders by maneuvering autonomously in areas inside…
In recent years, unmanned aerial vehicles (UAVs) have been considered for telecommunications purposes as relays, caches, or IoT data collectors. In addition to being easy to deploy, their maneuverability allows them to adjust their location…
This paper presents a distributed approach to provide persistent coverage of an arbitrarily shaped area using heterogeneous coverage of fixed-wing unmanned aerial vehicles (UAVs), and to recover from simultaneous failures of multiple UAVs.…
In this paper, we address the problem of collision avoidance for a swarm of UAVs used for continuous surveillance of an urban environment. Our method, LSwarm, efficiently avoids collisions with static obstacles, dynamic obstacles and other…
This paper suggests a 2D exploration strategy for a planar space cluttered with obstacles. Rather than using point robots capable of adjusting their position and altitude instantly, this research is tailored to classical agents with…
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…
In this work we present an algorithm for covering continuous connected domains by ant-like robots with very limited capabilities. The robots can mark visited places with pheromone marks and sense the level of the pheromone in their local…
The deployment of unmanned aerial vehicles (UAVs) in many different settings has provided various solutions and strategies for networking paradigms. Therefore, it reduces the complexity of the developments for the existing problems, which…
We first define appropriate state representation and action space, and then design an adjustment mechanism based on the actions selected by the intelligent agent. The adjustment mechanism outputs the next state and reward value of the…
Two mobile agents (robots) with distinct labels have to meet in an arbitrary, possibly infinite, unknown connected graph or in an unknown connected terrain in the plane. Agents are modeled as points, and the route of each of them only…
This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…