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The significant components of any successful autonomous flight system are task completion and collision avoidance. Most deep learning algorithms successfully execute these aspects under the environment and conditions they are trained.…

Autonomous mobile robots have the potential to solve missions that are either too complex or dangerous to be accomplished by humans. In this paper, we address the design and autonomous deployment of a ground vehicle equipped with a robotic…

Fires in industrial facilities pose special challenges to firefighters, e.g., due to the sheer size and scale of the buildings. The resulting visual obstructions impair firefighting accuracy, further compounded by inaccurate assessments of…

Autonomous robotic systems for various applications including transport, mobile manipulation, and disaster response are becoming more and more complex. Evaluating and analyzing such systems is challenging. Robotic competitions are designed…

An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…

For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…

This paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption of the employed…

With the rapid increase in wildfires in the past decade, it has become necessary to detect and predict these disasters to mitigate losses to ecosystems and human lives. In this paper, we present a novel solution -- Hyper-Drive3D --…

In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…

Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficulties faced by a robot operator. The use of multi-robot teams,…

As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…

Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…

Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environments such as disaster zones, contaminated sites, wildfire areas, and damaged infrastructure, where limited flight endurance must be…

Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…

Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we introduce the Unified Path Planner (UPP), a graph-search…

Path planning methods for the unmanned aerial vehicle (UAV) in goods delivery have drawn great attention from industry and academics because of its flexibility which is suitable for many situations in the "Last Kilometer" between customer…

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*)…

Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. Several algorithms have been proposed for obstacle avoidance, having drawbacks and benefits.…

This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part…

This article addresses the visual area coverage problem using a team of Unmanned Aerial Vehicles (UAVs). The UAVs are assumed to be equipped with a downward facing camera covering all points of interest within a circle on the ground. The…