相关论文: Autonomous Exploration and General Visual Inspecti…
This paper presents field results and lessons learned from the deployment of aerial robots inside ship ballast tanks. Vessel tanks including ballast tanks and cargo holds present dark, dusty environments having simultaneously very narrow…
This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…
Automated and autonomous industrial inspection is a longstanding research field, driven by the necessity to enhance safety and efficiency within industrial settings. In addressing this need, we introduce an autonomously navigating robotic…
This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
In today's chemical plants, human field operators perform frequent integrity checks to guarantee high safety standards, and thus are possibly the first to encounter dangerous operating conditions. To alleviate their task, we present a…
Autonomous robots used in infrastructure inspection, space exploration and other critical missions operate in highly dynamic environments. As such, they must continually verify their ability to complete the tasks associated with these…
Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…
Task generation for underwater multi-robot inspections without prior knowledge of existing geometry can be achieved and optimized through examination of simultaneous localization and mapping (SLAM) data. By considering hardware parameters…
The use of autonomous UAVs for surveillance purposes and other reconnaissance tasks is increasingly becoming popular and convenient.These tasks requires the ability to successfully ingress through the rectangular openings or windows of the…
This paper presents our approach to develop a method for an unmanned ground vehicle (UGV) to perform inspection tasks in nuclear environments using rich information maps. To reduce inspectors' exposure to elevated radiation levels, an…
This paper underscores the importance of environmental monitoring, and specifically of freshwater ecosystems, which play a critical role in sustaining life and global economy. Despite their importance, insufficient data availability…
The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship owner, in addition to the danger that this kind of hostile…
Flow visualisations are essential to better understand the unsteady aerodynamics of flapping wing flight. The issues inherent to animal experiments, such as poor controllability and unnatural flapping when tethered, can be avoided by using…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
Unmanned Aerial Vehicles (UAVs) have recently shown great performance collecting visual data through autonomous exploration and mapping in building inspection. Yet, the number of studies is limited considering the post processing of the…
This paper proposes a comprehensive framework designed for the autonomous inspection of complex environments, with a specific focus on multi-tiered settings such as distillation column trays. Leveraging quadruped robots equipped with roller…
This work presents a vision-based underwater exploration and inspection autonomy solution integrated into Ariel, a custom vision-driven underwater robot. Ariel carries a $5$ camera and IMU based sensing suite, enabling a refraction-aware…