相关论文: A Heuristic Autonomous Exploration Method Based on…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
We present an autonomous exploration system for efficient coverage of unknown environments. First, a rapid environment preprocessing method is introduced to provide environmental information for subsequent exploration planning. Then, the…
We address the problem of efficient 3-D exploration in indoor environments for micro aerial vehicles with limited sensing capabilities and payload/power constraints. We develop an indoor exploration framework that uses learning to predict…
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…
An unmanned autonomous vehicle (UAV) is sent on a mission to explore and reconstruct an unknown environment from a series of measurements collected by Bayesian optimization. The success of the mission is judged by the UAV's ability to…
In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact,…
Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…
Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on…
One of the most critical features for the successful operation of autonomous UAVs is the ability to make decisions based on the information acquired from their surroundings. Each UAV must be able to make decisions during the flight in order…
Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring unknown environments is that the robot has to plan with the…
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…
Autonomous exploration is an essential capability for mobile robots, as the majority of their applications require the ability to efficiently collect information about their surroundings. In the literature, there are several approaches,…
Search and rescue missions are often critical following sudden natural disasters or in high-risk environmental situations. The most challenging search and rescue missions involve difficult-to-access terrains, such as dense forests with high…
Autonomous navigation at high speeds in off-road environments necessitates robots to comprehensively understand their surroundings using onboard sensing only. The extreme conditions posed by the off-road setting can cause degraded camera…
Autonomous terrain classification is an important problem in planetary navigation, whether the goal is to identify scientific sites of interest or to traverse treacherous areas safely. Past Martian rovers have relied on human operators to…
This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle…
This paper focuses on developing a bearings-only measurement-based three-dimensional window traversal guidance method for quadrotor Uninhabitated Aerial Vehicles (UAVs). The desired flight path and heading angles of the quadrotor are…
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…
Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from image degradations such as motion blur. In addition, their low power…
Existing exploration algorithms mainly generate frontiers using random sampling or motion primitive methods within a specific sensor range or search space. However, frontiers generated within constrained spaces lead to back-and-forth…