相关论文: Fields2Cover: An open-source coverage path plannin…

Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…

latfield2 is a C++ library designed to simplify writing parallel codes for solving partial differen- tial equations, developed for application to classical field theories in particle physics and cosmology. It is a significant rewrite of the…

In this paper, we present a path planner for low-altitude terrain coverage in known environments with unmanned rotary-wing micro aerial vehicles (MAVs). Airborne systems can assist humanitarian demining by surveying suspected hazardous…

In this paper a modular and scalable architecture for heterogeneous swarm-based Counter Unmanned Aerial Systems (C-UASs) built on PX4-Autopilot and Robot Operating System 2 (ROS 2) framework is presented. The proposed architecture…

This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…

An open-source vehicle testbed to enable the exploration of automation technologies for road vehicles is presented. The platform hardware and software, based on the Robot Operating System (ROS), are detailed. Two methods are discussed for…

Path planning in an uncertain environment is a key enabler of true vehicle autonomy. Over the past two decades, numerous approaches have been developed to account for errors in the vehicle path while navigating complex and often uncertain…

Automated Driving Systems (ADSs) have the potential to make mobility services available and safe for all. A multi-pillar Safety Assessment Framework (SAF) has been proposed for the type-approval process of ADSs. The SAF requires that the…

This paper proposes a state-machine model for a multi-modal, multi-robot environmental sensing algorithm. This multi-modal algorithm integrates two different exploration algorithms: (1) coverage path planning using variable formations and…

Unmanned Aerial Vehicles (UAVs) have revolutionized inspection tasks by offering a safer, more efficient, and flexible alternative to traditional methods. However, battery limitations often constrain their effectiveness, necessitating the…

Human-level autonomous driving is an ever-elusive goal, with planning and decision making -- the cognitive functions that determine driving behavior -- posing the greatest challenge. Despite a proliferation of promising approaches, progress…

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*)…

Cyclops, introduced in this paper, is an open research platform for everyone that wants to validate novel ideas and approaches in the area of self-driving heavy-duty vehicle platooning. The platform consists of multiple 1/14 scale…

There are many widely used tools for measuring test-coverage and code-coverage. Test coverage is the ratio of requirements or other non-code artifacts covered by a test suite, while code-coverage is the ratio of source code covered by…

We introduce a new open-source framework, Quadruped Trajectory Optimization Stack (QTOS), which integrates a global planner, local planner, simulator, controller, and robot interface into a single package. QTOS serves as a full-stack…

This paper proposes an efficient hybrid localization framework for the autonomous navigation of an unmanned ground vehicle in uneven or rough terrain, as well as techniques for detailed processing of 3D point cloud data. The framework is an…

Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…

As interactive web-based geovisualization becomes increasingly vital across disciplines, there is a growing need for open-source frameworks that support dynamic, multi-attribute spatial analysis and accessible design. This paper introduces…

Autonomous driving technology pledges safety, convenience, and energy efficiency. Challenges include the unknown intentions of other road users: communication between vehicles and with the road infrastructure is a possible approach to…

We present a vision-based navigation system for under-canopy agricultural robots using semantic keypoints. Autonomous under-canopy navigation is challenging due to the tight spacing between the crop rows ($\sim 0.75$ m), degradation in…