Tartanair: A dataset to push the limits of visual slam
We present a challenging dataset, the TartanAir, for robot navigation tasks and more. The
data is collected in photo-realistic simulation environments with the presence of moving …
data is collected in photo-realistic simulation environments with the presence of moving …
Fuel: Fast uav exploration using incremental frontier structure and hierarchical planning
Autonomous exploration is a fundamental problem for various applications of unmanned
aerial vehicles (UAVs). Existing methods, however, were demonstrated to insufficient …
aerial vehicles (UAVs). Existing methods, however, were demonstrated to insufficient …
Autonomous live working robot navigation with real‐time detection and motion planning system on distribution line
In this study, an autonomous robot navigation system is designed for live working on
distribution line. The developed system features a real‐time detection and motion planning …
distribution line. The developed system features a real‐time detection and motion planning …
SEER: Safe efficient exploration for aerial robots using learning to predict information gain
We address the problem of efficient 3-D exploration in indoor environments for micro aerial
vehicles with limited sensing capabilities and payload/power constraints. We develop an …
vehicles with limited sensing capabilities and payload/power constraints. We develop an …
An object slam framework for association, mapping, and high-level tasks
Object SLAM is considered increasingly significant for robot high-level perception and
decision-making. Existing studies fall short in terms of data association, object …
decision-making. Existing studies fall short in terms of data association, object …
Autonomous view planning methods for 3D scanning
Recent advancements in three-dimensional (3D) scanning technology have broadened its
applicability across fields like reverse engineering and autonomous robot navigation, which …
applicability across fields like reverse engineering and autonomous robot navigation, which …
Active visuo-tactile interactive robotic perception for accurate object pose estimation in dense clutter
This work presents a novel active visuo-tactile based framework for robotic systems to
accurately estimate pose of objects in dense cluttered environments. The scene …
accurately estimate pose of objects in dense cluttered environments. The scene …
SemCity: Semantic Scene Generation with Triplane Diffusion
We present" SemCity" a 3D diffusion model for semantic scene generation in real-world
outdoor environments. Most 3D diffusion models focus on generating a single object …
outdoor environments. Most 3D diffusion models focus on generating a single object …
Toward safety-aware informative motion planning for legged robots
This paper reports on developing an integrated framework for safety-aware informative
motion planning suitable for legged robots. The information-gathering planner takes a dense …
motion planning suitable for legged robots. The information-gathering planner takes a dense …
Racer: Rapid collaborative exploration with a decentralized multi-uav system
Although the use of multiple unmanned aerial vehicles (UAVs) has great potential for fast
autonomous exploration, it has received far too little attention. In this article, we present a …
autonomous exploration, it has received far too little attention. In this article, we present a …