相关论文: EDEN: Efficient Dual-Layer Exploration Planning fo…

Exploration is a fundamental problem in robotics. While sampling-based planners have shown high performance, they are oftentimes compute intensive and can exhibit high variance. To this end, we propose to directly learn the underlying…

In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradient map to make simple and adaptable cost map. This map can be…

This paper introduces FALCON, a novel Fast Autonomous expLoration framework using COverage path guidaNce, which aims at setting a new performance benchmark in the field of autonomous aerial exploration. Despite recent advancements in the…

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…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…

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…

The exploration of planetary surfaces is predominately unmanned, calling for a landing vehicle and an autonomous and/or teleoperated rover. Artificial intelligence and machine learning techniques can be leveraged for better mission…

Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…

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…

Efficient retrieval of information is of key importance when using Big Data systems. In large scale-out data architectures, data are distributed and replicated across several machines. Queries/tasks to such data architectures, are sent to a…

Autonomous deployment of unmanned aerial vehicles (UAVs) supporting next-generation communication networks requires efficient trajectory planning methods. We propose a new end-to-end reinforcement learning (RL) approach to UAV-enabled data…

The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. This paper presents trajectory planning for three-dimensional autonomous multi-UAV…

This paper considers the path planning problem for autonomous exploration of an unknown environment using multiple heterogeneous robots such as drones, wheeled, and legged robots, which have different capabilities to traverse complex…

In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…

In this paper, we propose a framework for fast trajectory planning for unmanned aerial vehicles (UAVs). Our framework is reformulated from an existing bilevel optimization, in which the lower-level problem solves for the optimal trajectory…

The last decade has witnessed growth in the computational requirements for training deep neural networks. Current approaches (e.g., data/model parallelism, pipeline parallelism) parallelize training tasks onto multiple devices. However,…

This paper presents a two-stage trajectory planning framework for a multi-UAV rigid-payload cascaded transportation system, aiming to address planning challenges in densely cluttered environments. In Stage I, an Enhanced Tube-RRT* algorithm…

Path planning is a fundamental capability of autonomous Unmanned Aerial Vehicles (UAVs), enabling them to efficiently navigate toward a target region or explore complex environments while avoiding obstacles. Traditional pathplanning…

Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…

An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…