Active simultaneous localization and mapping (SLAM) is the problem of planning and
controlling the motion of a robot to build the most accurate and complete model of the …

3D scene graphs have recently emerged as a powerful high-level representation of 3D
environments. A 3D scene graph describes the environment as a layered graph where …

Abstract Recent Artificial Intelligence studies have achieved substantial improvements in
practical tasks by using extensive amounts of data. We assume that a substantial part of the …

3D spatial perception is the problem of building and maintaining an actionable and
persistent representation of the environment in real-time using sensor data and prior …

In this letter, we present an evolved version of Situational Graphs, which jointly models in a
single optimizable factor graph (1) a pose graph, as a set of robot keyframes comprising …

Artificial intelligence has undergone immense growth and maturation in recent years, though
autonomous systems have traditionally struggled when fielded in diverse and previously …

Mobile robots should be aware of their situation, comprising the deep understanding of their
surrounding environment along with the estimation of its own state, to successfully make …

Coverage Path Planning (CPP) describes the process of generating robot trajectories that
fully cover an area or volume. Applications are, amongst many others, mobile cleaning …

This letter describes Fields2Cover, a novel open source library for coverage path planning
(CPP) for agricultural vehicles. While there are several CPP solutions nowadays, there have …

We present an automatic approach for the task of reconstructing a 2-D floor plan from
unstructured point clouds of building interiors. Our approach emphasizes accurate and …