Enhanced Autonomous Exploration and Mapping of an Unknown Environment with the Fusion of Dual RGB-D Sensors
Sign Up to like & getrecommendations! Published in 2019 at "Engineering"
DOI: 10.1016/j.eng.2018.11.014
Abstract: Abstract The autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate two-dimensional (2D) grid maps.… read more here.
Keywords: autonomous exploration; exploration mapping; exploration; environment ... See more keywords
Virtual Maps for Autonomous Exploration of Cluttered Underwater Environments
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Journal of Oceanic Engineering"
DOI: 10.1109/joe.2022.3153897
Abstract: We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot’s coverage rate, map uncertainty and state estimation uncertainty. In this article, we present a novel exploration framework… read more here.
Keywords: virtual maps; exploration cluttered; autonomous exploration; cluttered underwater ... See more keywords
A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3146586
Abstract: In this letter, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to… read more here.
Keywords: next best; time; exploration; planner ... See more keywords
TAPE: Tether-Aware Path Planning for Autonomous Exploration of Unknown 3D Cavities Using a Tangle-Compatible Tethered Aerial Robot
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3194691
Abstract: This letter presents the first method for autonomous exploration of unknown cavities in three dimensions (3D) that focuses on minimizing the distance traveled and the length of tether unwound. Considering that the tether entanglements are… read more here.
Keywords: unknown cavities; exploration unknown; path; autonomous exploration ... See more keywords
FAEL: Fast Autonomous Exploration for Large-scale Environments With a Mobile Robot
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3236573
Abstract: Autonomous exploration in large-scale and complex environments is a challenging task. As the size of the environment increases, the significant overhead of exploration algorithms could overwhelm the computational capability of mobile platforms, prohibiting timely response… read more here.
Keywords: exploration large; large scale; autonomous exploration; fael fast ... See more keywords
Autonomous Indoor Exploration Via Polygon Map Construction and Graph-Based SLAM Using Directional Endpoint Features
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2018.2883587
Abstract: In this paper, a novel 2-D laser-based autonomous exploration approach for mobile robots is proposed, which is based on a novel polygon map construction approach and graph-based simultaneous localization and mapping (SLAM) with directional endpoint… read more here.
Keywords: autonomous exploration; exploration; polygon map; graph based ... See more keywords
A Novel Informative Autonomous Exploration Strategy With Uniform Sampling for Quadrotors
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2021.3137616
Abstract: In this article, a novel informative autonomous exploration strategy with uniform sampling is proposed to efficiently reduce the unknown volume of 3-D environments and provide an accurate truncated-signed-distance-function-based reconstruction for quadrotors. Different from existing methods,… read more here.
Keywords: novel informative; exploration strategy; informative autonomous; autonomous exploration ... See more keywords