相关论文: Toward Integrating Semantic-aware Path Planning an…

Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…

Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…

The autonomous real-time optical navigation of planetary UAV is of the key technologies to ensure the success of the exploration. In such a GPS denied environment, vision-based localization is an optimal approach. In this paper, we proposed…

Path planning is a basic capability of autonomous mobile robots. Former approaches in path planning exploit only the given geometric information from the environment without leveraging the inherent semantics within the environment. The…

Warehouse logistics robots will work in different warehouse environments. In order to enable robots to perceive environment and plan path faster without modifying existing warehouses, we uses monocular camera to achieve an efficient robot…

This paper addresses the challenge of navigating unmanned aerial vehicles in contested environments by introducing a cooperative multi-agent framework that increases the likelihood of safe UAV traversal. The approach involves two types of…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…

Topological strategies for navigation meaningfully reduce the space of possible actions available to a robot, allowing use of heuristic priors or learning to enable computationally efficient, intelligent planning. The challenges in…

One of the most critical features for the successful operation of autonomous UAVs is the ability to make decisions based on the information acquired from their surroundings. Each UAV must be able to make decisions during the flight in order…

Unmanned aerial vehicles (UAVs) equipped with multiple complementary sensors have tremendous potential for fast autonomous or remote-controlled semantic scene analysis, e.g., for disaster examination. In this work, we propose a UAV system…

Autonomous navigation in unstructured off-road environments is greatly improved by semantic scene understanding. Conventional image processing algorithms are difficult to implement and lack robustness due to a lack of structure and high…

Bridges are an essential part of the transportation infrastructure and need to be monitored periodically. Visual inspections by dedicated teams have been one of the primary tools in structural health monitoring (SHM) of bridge structures.…

Natural environments pose significant challenges for autonomous robot navigation, particularly due to their unstructured and ever-changing nature. Hiking trails, with their dynamic conditions influenced by weather, vegetation, and human…

Unmanned aerial vehicles (UAVs) are widely used for object detection. However, the existing UAV-based object detection systems are subject to severe challenges, namely, their limited computation, energy and communication resources, which…

Recent advancements in statistical learning and computational abilities have enabled autonomous vehicle technology to develop at a much faster rate. While many of the architectures previously introduced are capable of operating under highly…

Significant advances in sensing, robotics, and wireless networks have enabled the collaborative utilization of autonomous aerial, ground and underwater vehicles for various applications. However, to successfully harness the benefits of…

The performance optimization of UAV communication systems requires the joint design of UAV trajectory and communication efficiently. To tackle the challenge of infinite design variables arising from the continuous-time UAV trajectory…

Autonomous valet parking is a specific application for autonomous vehicles. In this task, vehicles need to navigate in narrow, crowded and GPS-denied parking lots. Accurate localization ability is of great importance. Traditional…

3D Scene Graphs integrate both metric and semantic information, yet their structure remains underutilized for improving path planning efficiency and interpretability. In this work, we present S-Path, a situationally-aware path planner that…