相关论文: Multi-Robot Autonomous Exploration and Mapping Und…

We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…

A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…

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…

Interest in designing, manufacturing, and using autonomous robots has been rapidly growing during the most recent decade. The main motivation for this interest is the wide range of potential applications these autonomous systems can serve…

This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled…

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…

Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…

In this paper, we propose an integrated framework for the autonomous robotic exploration in indoor environments. Specially, we present a hybrid map, named Semantic Road Map (SRM), to represent the topological structure of the explored…

Multi-robot motion planning problems often have many local minima. It is essential to visualize those local minima such that we can better understand, debug and interact with multi-robot systems. Towards this goal, we present the…

This paper focuses on online occupancy mapping and real-time collision checking onboard an autonomous robot navigating in a large unknown environment. Commonly used voxel and octree map representations can be easily maintained in a small…

Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage efficiency, but often overlook that visual-inertial odometry…

Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…

Reliable localization is an essential capability for marine robots navigating in GPS-denied environments. SLAM, commonly used to mitigate dead reckoning errors, still fails in feature-sparse environments or with limited-range sensors. Pose…

Signal source localization has been a problem of interest in the multi-robot systems domain given its applications in search & rescue and hazard localization in various industrial and outdoor settings. A variety of multi-robot search…

We present an algorithm to explore an orthogonal polygon using a team of $p$ robots. This algorithm combines ideas from information-theoretic exploration algorithms and computational geometry based exploration algorithms. We show that the…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

Autonomous exploration by unmanned surface vehicles (USVs) in near-shore waters requires reliable localisation and consistent mapping over extended areas, but this is challenged by GNSS degradation, environment-induced localisation…

This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…

This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…

Mobile robots have become more and more popular in large-scale and crowded environments, such as airports, shopping malls, etc. However, due to sparse landmarks and crowd noise, localization in this environment is a great challenge.…