相关论文: Under-Canopy Navigation using Aerial Lidar Maps

Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…

Obstacle avoidance is one of the essential and indispensable functions for autonomous mobile robots. Most of the existing solutions are typically based on single condition constraint and cannot incorporate sensor data in a real-time manner,…

Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…

One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…

This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…

In recent years, consumer Unmanned Aerial Vehicles have become very popular, everyone can buy and fly a drone without previous experience, which raises concern in regards to regulations and public safety. In this paper, we present a novel…

Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…

Agile mapless navigation in cluttered 3D environments poses significant challenges for autonomous drones. Conventional mapping-planning-control pipelines incur high computational cost and propagate estimation errors. We present AERO-MPPI, a…

In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely…

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…

Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…

Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…

Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles (UAVs). Recently, LiDAR-based exploration has gained significant attention due to its ability to generate high-precision point cloud maps…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…

This paper proposes an efficient hybrid localization framework for the autonomous navigation of an unmanned ground vehicle in uneven or rough terrain, as well as techniques for detailed processing of 3D point cloud data. The framework is an…

As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…

This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…

LiDAR odometry is essential for many robotics applications, including 3D mapping, navigation, and simultaneous localization and mapping. LiDAR odometry systems are usually based on some form of point cloud registration to compute the…

Localization can be achieved by different sensors and techniques such as a global positioning system (GPS), wifi, ultrasonic sensors, and cameras. In this paper, we focus on the laser-based localization method for unmanned aerial vehicle…

Aerial mapping systems are important for many surveying applications (e.g., industrial inspection or agricultural monitoring). Aerial platforms that can fly GPS-guided preplanned missions semi-autonomously are already widely available but…