相关论文: Risk-Aware Coverage Path Planning for Lunar Micro-…
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…
This paper presents a time-efficient scheme for Mars exploration by the cooperation of multiple drones and a rover. To maximize effective coverage of the Mars surface in the long run, a comprehensive framework has been developed with joint…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
An efficient characterization of scientifically significant locations is essential prior to the return of humans to the Moon. The highest resolution imagery acquired from orbit of south-polar shadowed regions and other relevant locations…
Unmanned Aerial Vehicles (UAVs) have been implemented for environmental monitoring by using their capabilities of mobile sensing, autonomous navigation, and remote operation. However, in real-world applications, the limitations of on-board…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
The European Moon Rover System (EMRS) Pre-Phase A activity is part of the European Exploration Envelope Programme (E3P) that seeks to develop a versatile surface mobility solution for future lunar missions. These missions include: the Polar…
Many scenarios require a robot to be able to explore its 3D environment online without human supervision. This is especially relevant for inspection tasks and search and rescue missions. To solve this high-dimensional path planning problem,…
The aim of this work is to introduce MaRF, a novel framework able to synthesize the Martian environment using several collections of images from rover cameras. The idea is to generate a 3D scene of Mars' surface to address key challenges in…
In recent years, advancements have been made towards the goal of using chaotic coverage path planners for autonomous search and traversal of spaces with limited environmental cues. However, the state of this field is still in its infancy as…
Collision-free path planning is an essential requirement for autonomous exploration in unknown environments, especially when operating in confined spaces or near obstacles. This study presents an autonomous exploration technique using a…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…
Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…
Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach…
In the context of mobile navigation in unstructured environments, the predominant approach entails the avoidance of obstacles. The prevailing path planning algorithms are contingent upon deviating from the intended path for an indefinite…
Coverage path planning in a generic known environment is shown to be NP-hard. When the environment is unknown, it becomes more challenging as the robot is required to rely on its online map information built during coverage for planning its…
Up until now, path planning for unmanned aerial vehicles (UAVs) has mainly been focused on the optimisation towards energy efficiency. However, to operate UAVs safely, wireless coverage is of utmost importance. Currently, deployed cellular…
This study proposes a schematic plan for in-situ resource utilization (ISRU) in Martian volcanic terrains. The work investigated the complexity of volcanic terrains and Martian environmental hazards and suggested comprehensive engineering…
Planetary rover exploration is attracting renewed interest with several upcoming space missions to the Moon and Mars. However, a substantial amount of data from prior missions remain underutilized for path planning and autonomous navigation…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…