相关论文: Collaborative Ground-Aerial Multi-Robot System for…

Autonomous exploration of unknown environments has been widely applied in inspection, surveillance, and search and rescue. In exploration task, the basic requirement for robots is to detect the unknown space as fast as possible. In this…

Ground robots always get collision in that only if they get close to the obstacles, can they sense the danger and take actions, which is usually too late to avoid the crash, causing severe damage to the robots. To address this issue, we…

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…

Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions.…

This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability…

We present a framework for a ground-aerial robotic team to explore large, unstructured, and unknown environments. In such exploration problems, the effectiveness of existing exploration-boosting heuristics often scales poorly with the…

In recent years, increased wildfires have caused irreversible damage to forest resources worldwide, threatening wildlives and human living conditions. The lack of accurate frontline information in real-time can pose great risks to…

Autonomous or teleoperated robots have been playing increasingly important roles in civil applications in recent years. Across the different civil domains where robots can support human operators, one of the areas where they can have more…

In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…

This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…

There are various desired capabilities to create aerial forest-traversing robots capable of monitoring both biological and abiotic data. The features range from multi-functionality, robustness, and adaptability. These robots have to weather…

This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…

Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…

This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings, such as cave networks and underground mines, often involve…

While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…

In order to respond effectively in the aftermath of a disaster, emergency services and relief organizations rely on timely and accurate information about the affected areas. Remote sensing has the potential to significantly reduce the time…

In disaster response or surveillance operations, quickly identifying areas needing urgent attention is critical, but deploying response teams to every location is inefficient or often impossible. Effective performance in this domain…

Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces. These aim to streamline and enhance the user interaction…

Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…

In this paper, we propose a cost-effective strategy for heterogeneous UAV swarm systems for cooperative aerial inspection. Unlike previous swarm inspection works, the proposed method does not rely on precise prior knowledge of the…