相关论文: Exploring Unstructured Environments using Minimal …
Autonomous navigation of UAV swarms in perceptually-degraded environments, where GPS is unavailable and terrain is densely cluttered, presents a critical bottleneck for real-world deployment. Existing optimization-based planners lack the…
Autonomous exploration in unknown environments is a critical challenge in robotics, particularly for applications such as indoor navigation, search and rescue, and service robotics. Traditional exploration strategies, such as frontier-based…
Aerial surveillance and monitoring demand both real-time and robust motion detection from a moving camera. Most existing techniques for drones involve sending a video data streams back to a ground station with a high-end desktop computer or…
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…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…
Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they…
Fully-autonomous miniaturized robots (e.g., drones), with artificial intelligence (AI) based visual navigation capabilities are extremely challenging drivers of Internet-of-Things edge intelligence capabilities. Visual navigation based on…
This paper focuses on online occupancy mapping and real-time collision checking onboard an autonomous robot navigating in a large unknown environment. Commonly used voxel and octree map representations can be easily maintained in a small…
Designing autonomous drone swarms is hampered by a vast design space spanning platform, algorithmic, and numerical-strength choices. We perform large-scale agent-based simulations in three canonical scenarios: swarm-on-swarm battle,…
There is still a long way to go before artificial mini robots are really used for search and rescue missions in disaster-hit areas due to hindrance in power consumption, computation load of the locomotion, and obstacle-avoidance system.…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
Exploring an unknown environment without colliding with obstacles is one of the essentials of autonomous vehicles to perform diverse missions such as structural inspections, rescues, deliveries, and so forth. Therefore, unmanned aerial…
Collaborative multiple robots for unknown environment exploration have become mainstream due to their remarkable performance and efficiency. However, most existing methods assume perfect robots' communication during exploration, which is…
GenGrid is a novel comprehensive open-source, distributed platform intended for conducting extensive swarm robotic experiments. The modular platform is designed to run swarm robotics experiments that are compatible with different types of…
Nano-sized drones, with palm-sized form factor, are gaining relevance in the Internet-of-Things ecosystem. Achieving a high degree of autonomy for complex multi-objective missions (e.g., safe flight, exploration, object detection) is…
This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…
Navigating an environment with uncertain connectivity requires a strategic balance between minimizing the cost of traversal and seeking information to resolve map ambiguities. Unlike previous approaches that rely on local sensing, we…
Building intelligent autonomous systems at any scale is challenging. The sensing and computation constraints of a microrobot platform make the problems harder. We present improvements to learning-based methods for on-board learning of…
Unmanned Aerial Vehicles have received much attention in recent years due to its wide range of applications, such as exploration of an unknown environment to acquire a 3D map without prior knowledge of it. Existing exploration methods have…