相关论文: Active SLAM Utility Function Exploiting Path Entro…

Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…

We address the problem of efficient phase diagram sampling by adopting active learning techniques from machine learning, and achieve an 80% reduction in the sample size (number of sampled statepoints) needed to establish the phase boundary…

Visual exploration is a task that seeks to visit all the navigable areas of an environment as quickly as possible. The existing methods employ deep reinforcement learning (RL) as the standard tool for the task. However, they tend to be…

Balancing exploration and exploitation is a central goal in reinforcement learning (RL). Despite recent advances in enhancing large language model (LLM) reasoning, most methods lean toward exploitation, and increasingly encounter…

We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…

This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…

Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…

Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…

Traditional SLAM algorithms are typically based on artificial features, which lack high-level information. By introducing semantic information, SLAM can own higher stability and robustness rather than purely hand-crafted features. However,…

Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system.…

Simultaneous localization and mapping (SLAM) is a critical capability for autonomous systems. Traditional SLAM approaches, which often rely on visual or LiDAR sensors, face significant challenges in adverse conditions such as low light or…

Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor…

Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…

We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…

The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improved LiDAR-inertial localization and mapping system for…

The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and…

Simultaneous Localization and Mapping (SLAM) allows mobile robots to navigate without external positioning systems or pre-existing maps. Radar is emerging as a valuable sensing tool, especially in vision-obstructed environments, as it is…

Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…

Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…

We propose visual-inertial simultaneous localization and mapping that tightly couples sparse reprojection errors, inertial measurement unit pre-integrals, and relative pose factors with dense volumetric occupancy mapping. Hereby depth…