Representation granularity enables time-efficient autonomous exploration in large, complex worlds
We propose a dual-resolution scheme to achieve time-efficient autonomous exploration with
one or many robots. The scheme maintains a high-resolution local map of the robot's …
one or many robots. The scheme maintains a high-resolution local map of the robot's …
Oxpecker: A tethered uav for inspection of stone-mine pillars
B Martinez Rocamora Jr, RR Lima, K Samarakoon… - Drones, 2023 - mdpi.com
This paper presents a state-of-the-art tethered unmanned aerial vehicle (TUAV) for structural
integrity assessment of underground stone mine pillars. The TUAV, powered by its tether …
integrity assessment of underground stone mine pillars. The TUAV, powered by its tether …
Multi-robot, multi-sensor exploration of multifarious environments with full mission aerial autonomy
We present a coordinated autonomy pipeline for multi-sensor exploration of confined
environments. We simultaneously address four broad challenges that are typically …
environments. We simultaneously address four broad challenges that are typically …
Dppm: Decentralized exploration planning for multi-uav systems using lightweight information structure
Y Hui, X Zhang, H Shen, H Lu… - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
Autonomous exploration of unknown environments with multiple Unmanned Aerial Vehicles
(UAVs) is a challenging problem. In this article, we present DPPM, a Decentralized …
(UAVs) is a challenging problem. In this article, we present DPPM, a Decentralized …
Semantics-aware exploration and inspection path planning
M Dharmadhikari, K Alexis - 2023 IEEE International …, 2023 - ieeexplore.ieee.org
This paper contributes a novel strategy for semantics-aware autonomous exploration and
inspection path planning. Attuned to the fact that environments that need to be explored …
inspection path planning. Attuned to the fact that environments that need to be explored …
Off-policy evaluation with online adaptation for robot exploration in challenging environments
Autonomous exploration has many important applications. However, classic information
gain-based or frontier-based exploration only relies on the robot current state to determine …
gain-based or frontier-based exploration only relies on the robot current state to determine …
Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots
M Dharmadhikari, P De Petris… - 2023 21st …, 2023 - ieeexplore.ieee.org
This paper presents a solution for the autonomous exploration and inspection of Ballast
Water Tanks (BWTs) of marine vessels using aerial robots. Ballast tank compartments are …
Water Tanks (BWTs) of marine vessels using aerial robots. Ballast tank compartments are …
Learned Contextual LiDAR Informed Visual Search in Unseen Environments
This paper presents LIVES: LiDAR Informed Visual Search, an autonomous planner for
unknown environments. We consider the pixel-wise environment perception problem where …
unknown environments. We consider the pixel-wise environment perception problem where …
Star-Searcher: A Complete and Efficient Aerial System for Autonomous Target Search in Complex Unknown Environments
This letter tackles the challenge of autonomous target search using unmanned aerial
vehicles (UAVs) in complex unknown environments. To fill the gap in systematic approaches …
vehicles (UAVs) in complex unknown environments. To fill the gap in systematic approaches …
Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Spherical Decomposition
This work proposes an autonomous multi-robot exploration pipeline that coordinates the
behaviors of robots in an indoor environment composed of multiple rooms. Contrary to …
behaviors of robots in an indoor environment composed of multiple rooms. Contrary to …