相关论文: Towards Safer Planetary Exploration: A Hybrid Arch…
Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path…
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…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
In this paper, we introduce a novel method for safe navigation in agricultural robotics. As global environmental challenges intensify, robotics offers a powerful solution to reduce chemical usage while meeting the increasing demands for…
Unmanned Aerial Vehicles (UAVs) have become essential tools in inspection and emergency response operations due to their high maneuverability and ability to access hard-to-reach areas. However, their limited battery life significantly…
Self-driving vehicles and autonomous ground robots require a reliable and accurate method to analyze the traversability of the surrounding environment for safe navigation. This paper proposes and evaluates a real-time machine learning-based…
Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage efficiency, but often overlook that visual-inertial odometry…
Autonomous exploration by unmanned surface vehicles (USVs) in near-shore waters requires reliable localisation and consistent mapping over extended areas, but this is challenged by GNSS degradation, environment-induced localisation…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
The use of visual information for the navigation of unmanned ground vehicles in a cross-country environment recently received great attention. However, until now, the use of textural information has been somewhat less effective than color…
This paper proposes a Guidance, Navigation, and Control (GNC) architecture for planetary rovers targeting the conditions of upcoming Mars exploration missions such as Mars 2020 and the Sample Fetching Rover (SFR). The navigation…
This paper presents our approach to develop a method for an unmanned ground vehicle (UGV) to perform inspection tasks in nuclear environments using rich information maps. To reduce inspectors' exposure to elevated radiation levels, an…
We present a terrain traversability mapping and navigation system (TNS) for autonomous excavator applications in an unstructured environment. We use an efficient approach to extract terrain features from RGB images and 3D point clouds and…
For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR-based terrain modeling approach, which could output stable, complete and accurate terrain models and…
This thesis presents the development of ARGUS, a framework for mission planning for Unmanned Ground Vehicles (UGVs) in tactical environments. The system is designed to translate battlefield complexity and the commander's intent into…
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…
When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unmanned ground vehicle (UGV) to perform its duties or learn…
Terrain traversability analysis is a fundamental issue to achieve the autonomy of a robot at off-road environments. Geometry-based and appearance-based methods have been studied in decades, while behavior-based methods exploiting learning…