Perception‐aware autonomous mast motion planning for planetary exploration rovers
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Field Robotics"
DOI: 10.1002/rob.21925
Abstract: Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan… read more here.
Keywords: autonomous mast; perception aware; aware autonomous; performance ... See more keywords
Perception-Aware Receding Horizon Trajectory Planning for Multicopters With Visual-Inertial Odometry
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DOI: 10.1109/access.2022.3200342
Abstract: Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a… read more here.
Keywords: planner; visual inertial; inertial odometry; perception aware ... See more keywords
Perception-Aware Perching on Powerlines With Multirotors
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3145514
Abstract: Multirotor aerial robots are becoming widely used for the inspection of powerlines. To enable continuous, robust inspection without human intervention, the robots must be able to perch on the powerlines to recharge their batteries. Highly… read more here.
Keywords: perching powerlines; powerlines multirotors; perception aware; aware perching ... See more keywords
Deep-PANTHER: Learning-Based Perception-Aware Trajectory Planner in Dynamic Environments
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3235678
Abstract: This letter presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the UAV, and the predicted trajectory and size of the obstacle, Deep-PANTHER generates… read more here.
Keywords: based perception; panther; deep panther; perception aware ... See more keywords
Online Optimal Perception-Aware Trajectory Generation
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DOI: 10.1109/tro.2019.2931137
Abstract: This article proposes an online optimal active perception strategy for differentially flat systems meant to maximize the information collected via the available measurements along the planned trajectory. The goal is to generate online a trajectory… read more here.
Keywords: online optimal; trajectory generation; perception; optimal perception ... See more keywords