相关论文: A Heuristic Autonomous Exploration Method Based on…

We address the problem of autonomous exploration and mapping for a mobile robot using visual inputs. Exploration and mapping is a well-known and key problem in robotics, the goal of which is to enable a robot to explore a new environment…

In aerial visual area coverage missions, the camera footprint changes over time based on the camera position and orientation -- a fact that complicates the whole process of coverage and path planning. This article proposes a solution to the…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently…

Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…

Path planning over spatiotemporal models can be applied to a variety of applications such as UAVs searching for spreading wildfire in mountains or network of balloons in time-varying atmosphere deployed for inexpensive internet service. A…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…

Unmapped areas and aerodynamic disturbances render autonomous navigation with quadrotors extremely challenging. To fly safely and efficiently, trajectory planners and trackers must be able to navigate unknown environments with unpredictable…

Navigating an environment with uncertain connectivity requires a strategic balance between minimizing the cost of traversal and seeking information to resolve map ambiguities. Unlike previous approaches that rely on local sensing, we…

Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…

Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…

In this paper, we address the problem of safe trajectory planning for autonomous search and exploration in constrained, cluttered environments. Guaranteeing safe (collision-free) trajectories is a challenging problem that has garnered…

Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…

We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered environments when piloted manually, but vision-based autonomous…

Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles (UAVs). Recently, LiDAR-based exploration has gained significant attention due to its ability to generate high-precision point cloud maps…

We address the problem of controlling a mobile robot to explore a partially known environment. The robot's objective is the maximization of the amount of information collected about the environment. We formulate the problem as a partially…

Search and rescue environments exhibit challenging 3D geometry (e.g., confined spaces, rubble, and breakdown), which necessitates agile and maneuverable aerial robotic systems. Because these systems are size, weight, and power (SWaP)…

Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…

Path planning for robotic exploration is challenging, requiring reasoning over unknown spaces and anticipating future observations. Efficient exploration requires selecting budget-constrained paths that maximize information gain. Despite…