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

Robotic exploration of unknown environments is fundamentally a problem of decision making under uncertainty where the robot must account for uncertainty in sensor measurements, localization, action execution, as well as many other factors.…

Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…

Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can…

We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for…

Multi-robot exploration is a field which tackles the challenge of exploring a previously unknown environment with a number of robots. This is especially relevant for search and rescue operations where time is essential. Current state of the…

One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data…

Over the last few years, we have witnessed tremendous progress on many subtasks of autonomous driving, including perception, motion forecasting, and motion planning. However, these systems often assume that the car is accurately localized…

We consider exploration tasks in which an autonomous mobile robot incrementally builds maps of initially unknown indoor environments. In such tasks, the robot makes a sequence of decisions on where to move next that, usually, are based on…

Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…

We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a sensor for its nearby teammates. We formalize CL-MRMP as a…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…

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…

Autonomous exploration is a widely studied problem where a robot incrementally builds a map of a previously unknown environment. The robot selects the next locations to reach using an exploration strategy. To do so, the robot has to balance…

An Optimal Transport (OT)-based decentralized collaborative multi-robot exploration strategy is proposed in this paper. This method is to achieve an efficient exploration with a predefined priority in the given domain. In this context, the…

Multi-robot collaboration has become a needed component in unknown environment exploration due to its ability to accomplish various challenging situations. Potential-field-based methods are widely used for autonomous exploration because of…

Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…

Active search, in applications like environment monitoring or disaster response missions, involves autonomous agents detecting targets in a search space using decision making algorithms that adapt to the history of their observations.…

In this paper, we propose an autonomous exploration and a tapping mechanism-based material mapping system for a mobile robot in unknown environments. The goal of the proposed system is to integrate simultaneous localization and mapping…

Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…