相关论文: Mars Rover Localization Based on A2G Obstacle Dist…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
Mutual localization serves as the foundation for collaborative perception and task assignment in multi-robot systems. Effectively utilizing limited onboard sensors for mutual localization between marker-less robots is a worthwhile goal.…
Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) or high precision inertial navigation systems (INS) for geolocalization. In…
Terrain assessment is a key aspect for autonomous exploration rovers, surrounding environment recognition is required for multiple purposes, such as optimal trajectory planning and autonomous target identification. In this work we present a…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
Emergency communication is extremely important to aid rescue and search operation in the aftermath of any disaster. In such scenario, Unmanned Aerial Vehicle (UAV) networks may be used to complement the damaged cellular networks over large…
Ground texture based localization methods are potential prospects for low-cost, high-accuracy self-localization solutions for robots. These methods estimate the pose of a given query image, i.e. the current observation of the ground from a…
Multi-robot coverage is crucial in numerous applications, including environmental monitoring, search and rescue operations, and precision agriculture. In modern applications, a multi-robot team must collaboratively explore unknown spatial…
The mining sector increasingly adopts digital tools to improve operational efficiency, safety, and data-driven decision-making. One of the key challenges remains the reliable acquisition of high-resolution, geo-referenced spatial…
Planetary rover exploration is attracting renewed interest with several upcoming space missions to the Moon and Mars. However, a substantial amount of data from prior missions remain underutilized for path planning and autonomous navigation…
During missions involving radiation exposure, unmanned robotic platforms may embody a valuable tool, especially thanks to their capability of replacing human operators in certain tasks to eliminate the health risks associated with such an…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…
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…
This paper studies optimal unmanned aerial vehicle (UAV) placement to ensure line-of-sight (LOS) communication and sensing for a cluster of ground users possibly in deep shadow, while the UAV maintains backhaul connectivity with a base…
This paper presents a novel image-based path planning algorithm that was developed using computer vision techniques, as well as its comparative analysis with well-known deterministic and probabilistic algorithms, namely A* and Probabilistic…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
Air-ground collaborative robots have shown great potential in the field of fire and rescue, which can quickly respond to rescue needs and improve the efficiency of task execution. Mapping and navigation, as the key foundation for air-ground…
Many emerging technologies for the next generation wireless network prefer line-of-sight (LOS) propagation conditions to fully release their performance advantages. This paper studies 3D unmanned aerial vehicle (UAV) placement to establish…
To improve the localization precision of unmanned aerial vehicle (UAV), a novel framework is established by jointly utilizing multiple measurements of received signal strength (RSS) from multiple base stations (BSs) and multiple points on…