相关论文: FU-MPC: Frontier- and Uncertainty-Aware Model Pred…

The unification of disparate maps is crucial for enabling scalable robot operation across multiple sessions and collaborative multi-robot scenarios. However, achieving a unified map robust to sensor modalities and dynamic environments…

An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…

In order to enable Micro-Aerial Vehicles (MAVs) to assist in complex, unknown, unstructured environments, they must be able to navigate with guaranteed safety, even when faced with a cluttered environment they have no prior knowledge of.…

Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among…

This work presents an innovative solution for robotic odometry, path planning and exploration in wild unknown environments, focusing on digital modelling. The approach uses a minimum cost formulation with pseudo-randomly generated…

This letter investigates the coupled control problem in UAV networks utilizing high-frequency hybrid beamsteering. While phased arrays enable rapid electronic scanning, their finite Field of View (FoV) imposes a fundamental constraint that…

Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…

This paper introduces SHIELD, a Spherical-Projection Hybrid-Frontier Integration for Efficient LiDAR-based Drone exploration method. Although laser LiDAR offers the advantage of a wide field of view, its application in UAV exploration still…

LiDAR-based 3D perception and localization on unmanned aerial vehicles (UAVs) are fundamentally limited by the narrow field of view (FoV) of compact LiDAR sensors and the payload constraints that preclude multi-sensor configurations.…

Classic exploration methods often rely on dense occupancy maps or high-resolution point clouds for frontier detection and path planning, resulting in substantial memory consumption and computational overhead. Moreover, micro UAVs under…

LiDAR-camera fusion enhances 3D panoptic segmentation by leveraging camera images to complement sparse LiDAR scans, but it also introduces a critical failure mode. Under adverse conditions, degradation or failure of the camera sensor can…

Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…

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…

In this study, we propose a novel method that integrates Nonlinear Model Predictive Contour Control (NMPCC) with an Exponentially Stabilizing Control Lyapunov Function (ES-CLF) and Exponential Higher-Order Control Barrier Functions to…

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…

LiDAR-to-OpenStreetMap (OSM) localization has gained increasing attention, as OSM provides lightweight global priors such as building footprints. These priors enhance global consistency for robot navigation, but OSM is often incomplete or…

Accurate reconstruction of the environment is a central goal of Simultaneous Localization and Mapping (SLAM) systems. However, the agent's trajectory can significantly affect estimation accuracy. This paper presents a new method to model…

Efficient exploration strategies are vital in tasks such as search-and-rescue missions and disaster surveying. Unmanned Aerial Vehicles (UAVs) have become particularly popular in such applications, promising to cover large areas at high…

Search and rescue (SAR) missions require reliable search methods to locate survivors, especially in challenging or inaccessible environments. This is why introducing unmanned aerial vehicles (UAVs) can be of great help to enhance the…

This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception setup with a B-spline-based model predictive control (MPC)…