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

Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…

LiDAR odometry plays an important role in self-localization and mapping for autonomous navigation, which is usually treated as a scan registration problem. Although having achieved promising performance on KITTI odometry benchmark, the…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…

Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…

This study proposes a new automated strategy for designing and optimizing three-dimensional interplanetary low-thrust (LT) trajectories. The method formulates the design as a hybrid optimal control problem and solves it using a two-step…

Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…

Off-road autonomous navigation demands reliable 3D perception for robust obstacle detection in challenging unstructured terrain. While LiDAR is accurate, it is costly and power-intensive. Monocular depth estimation using foundation models…

Autonomous under-canopy navigation faces additional challenges compared to over-canopy settings - for example the tight spacing between the crop rows, degraded GPS accuracy and excessive clutter. Keypoint-based visual navigation has been…

For a multi-robot team that collaboratively explores an unknown environment, it is of vital importance that collected information is efficiently shared among robots in order to support exploration and navigation tasks. Practical constraints…

Foresighted robot navigation in dynamic indoor environments with cost-efficient hardware necessitates the use of a lightweight yet dependable controller. So inferring the scene dynamics from sensor readings without explicit object tracking…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

Collision-free, goal-directed navigation in environments containing unknown static and dynamic obstacles is still a great challenge, especially when manual tuning of navigation policies or costly motion prediction needs to be avoided. In…

This paper presents a Robot Operating System and Gazebo application to calculate and simulate an optimal route for a drone in an urban environment by developing new ROS packages and executing them along with open-source tools. Firstly, the…

In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

Micro aerial vehicles (MAVs), are frequently used for exploration, examination, and surveillance during search and rescue missions. Manually piloting these robots under stressful conditions provokes pilot errors and can result in crashes…

The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly…

Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…

Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…

Search and rescue environments exhibit challenging 3D geometry (e.g., confined spaces, rubble, and breakdown), which necessitates agile and maneuverable aerial robotic systems. Because these systems are size, weight, and power (SWaP)…