相关论文: Informative Sensor Planning for a Single-Axis Gimb…
Autonomous exploration is one of the important parts to achieve the autonomous operation of Unmanned Aerial Vehicles (UAVs). To improve the efficiency of the exploration process, a fast and autonomous exploration planner (FAEP) is proposed…
Planning paths that maximize information gain for robotic platforms has wide-ranging applications and significant potential impact. To effectively adapt to real-time data collection, informative path planning must be computed online and be…
Autonomous exploration in unknown environments requires estimating the information gain of an action to guide planning decisions. While prior approaches often compute information gain at discrete waypoints, pathwise integration offers a…
The visual simultaneous localization and mapping(vSLAM) is widely used in GPS-denied and open field environments for ground and surface robots. However, due to the frequent perception failures derived from lacking visual texture or the…
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…
Unmanned aerial vehicle (UAV) is expected to bring transformative improvement to the integrated sensing and communication (ISAC) system. However, due to shared spectrum resources, it is challenging to achieve a critical trade-off between…
Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue…
This paper reports on developing an integrated framework for safety-aware informative motion planning suitable for legged robots. The information-gathering planner takes a dense stochastic map of the environment into account, while safety…
Indoor infrastructure inspection, such as tunnels and industrial facilities, requires systematic surface coverage to ensure that all inspection targets are properly observed. Unmanned Aerial Vehicles (UAVs) offer an alternative to manual…
In this paper, we investigate joint resource allocation and trajectory design for multi-user multi-target unmanned aerial vehicle (UAV)-enabled integrated sensing and communication (ISAC). To improve sensing accuracy, the UAV is forced to…
The unmanned aerial vehicle (UAV) needs to sense the environment to ensure safe flight, and the sensing accuracy and communication delay performance are two important indicators of safe flight. The strategy of using integrated sensing and…
We present an error tolerant path planning algorithm for Micro Aerial Vehicle (MAV) swarms. We assume navigation without GPS-like techniques. The MAVs find their path using sensors and cameras, identifying and following a series of visual…
Unmanned aerial vehicles (UAVs) are usually dispatched as mobile sinks to assist data collection in large-scale wireless sensor networks (WSNs). However, when considering the limitations of UAV's mobility and communication capabilities in a…
Unmanned aerial vehicle (UAV) is expected to revolutionize the existing integrated sensing and communication (ISAC) system and promise a more flexible joint design. Nevertheless, the existing works on ISAC mainly focus on exploring the…
Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…
UAVs are becoming popular in agriculture, however, they usually use time-consuming row-by-row flight paths. This paper presents a deep-reinforcement-learning-based approach for path planning to efficiently localize weeds in agricultural…
The evaluation of informative path planning algorithms for autonomous vehicles is often hindered by fragmented execution pipelines and limited transferability between simulation and real-world deployment. This paper introduces a unified…
Efficient data collection methods play a major role in helping us better understand the Earth and its ecosystems. In many applications, the usage of unmanned aerial vehicles (UAVs) for monitoring and remote sensing is rapidly gaining…
The efficacy of UAV swarm cooperative perception fundamentally depends on three-dimensional (3D) formation geometry, which governs target observability and sensor complementarity. In the literature, the exploitation of formation geometry…
This paper studies the UAV-enabled integrated sensing and communication (ISAC), in which UAVs are dispatched as aerial dual-functional access points (APs) for efficient ISAC. In particular, we consider a scenario with one UAV-AP equipped…