相关论文: PredRecon: A Prediction-boosted Planning Framework…

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 article addresses collaborative 3D map reconstruction using multiple drones. Achieving high-quality reconstruction requires capturing images of keypoints within the target scene from diverse viewing angles, and coverage control offers…

The challenging task of 3D planar reconstruction from images involves several sub-tasks including frame-wise plane detection, segmentation, parameter regression and possibly depth prediction, along with cross-frame plane correspondence and…

Indoor infrastructure inspection, such as tunnels and industrial facilities, requires systematic surface coverage to ensure that all inspection targets are properly observed. Unmanned Aerial Vehicles (UAVs) offer an alternative to manual…

In this paper, a new demonstration-based path-planning framework for the visual inspection of large structures using UAVs is proposed. We introduce UPPLIED: UAV Path PLanning for InspEction through Demonstration, which utilizes a…

We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and…

Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…

In this paper, we propose a novel semi-autonomous image sampling strategy, called stealthy coverage control, for human-enabled 3D structure reconstruction. The present mission involves a fundamental problem: while the number of images…

We present UniPlane, a novel method that unifies plane detection and reconstruction from posed monocular videos. Unlike existing methods that detect planes from local observations and associate them across the video for the final…

A novel autonomous chunk-based aerial additive manufacturing framework is presented, supported with experimental demonstration advancing aerial 3D printing. An optimization-based decomposition algorithm transforms structures into…

An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…

Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…

Efficient data collection methods play a major role in helping us better understand the Earth and its ecosystems. In many applications, the usage of unmanned aerial vehicles (UAVs) for monitoring and remote sensing is rapidly gaining…

This paper presents a new swarm intelligence-based approach to deal with the cooperative path planning problem of unmanned aerial vehicles (UAVs), which is essential for the automatic inspection of infrastructure. The approach uses a 3D…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

Generalizable neural implicit surface reconstruction aims to obtain an accurate underlying geometry given a limited number of multi-view images from unseen scenes. However, existing methods select only informative and relevant views using…

Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…

In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…