Online planning for multi-robot active perception with self-organising maps
Sign Up to like & getrecommendations! Published in 2018 at "Autonomous Robots"
DOI: 10.1007/s10514-017-9691-4
Abstract: We propose a self-organising map (SOM) algorithm as a solution to a new multi-goal path planning problem for active perception and data collection tasks. We optimise paths for a multi-robot team that aims to maximally… read more here.
Keywords: self organising; multi robot; perception; active perception ... See more keywords
Motor-Level N-MPC for Cooperative Active Perception With Multiple Heterogeneous UAVs
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3143218
Abstract: This letter introduces a cooperative control framework based on Nonlinear Model Predictive Control (NMPC) for solving an Active Information Acquisition problem (AIA) using a system of multiple multirotor UAVs equipped with onboard sensors. The observation… read more here.
Keywords: cooperative active; motor level; model; mpc cooperative ... See more keywords
Unsupervised Machine Learning Based Scalable Fusion for Active Perception
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2019.2910508
Abstract: The fusion of sensor data is an essential requirement for active perception in autonomous robots in order to accurately perceive an environment, make appropriate adjustments that improve the understanding of the environment and generate actionable… read more here.
Keywords: fusion; unsupervised machine; machine learning; active perception ... See more keywords