An informative path planning framework for UAV-based terrain monitoring
Unmanned aerial vehicles represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex environments. To address ...
Multi-agent informed path planning using the probability hypothesis density
An Informed Path Planning algorithm for multiple agents is presented. It can be used to efficiently utilize available agents when surveying large areas, when total coverage is unattainable. Internally the algorithm has a Probability Hypothesis ...
Improved and scalable online learning of spatial concepts and language models with mapping
We propose a novel online learning algorithm, called SpCoSLAM 2.0, for spatial concepts and lexical acquisition with high accuracy and scalability. Previously, we proposed SpCoSLAM as an online learning algorithm based on unsupervised Bayesian ...
GP-SLAM: laser-based SLAM approach based on regionalized Gaussian process map reconstruction
Existing laser-based 2D simultaneous localization and mapping (SLAM) methods exhibit limitations with regard to either efficiency or map representation. An ideal method should estimate the map of the environment and the state of the robot quickly ...
Correction to: GP-SLAM: laser-based SLAM approach based on regionalized Gaussian process map reconstruction
Unfortunately, the acknowledgement text was incorrectly published in the original article.
Formation control of unmanned micro aerial vehicles for straitened environments
This paper presents a novel approach for control and motion planning of formations of multiple unmanned micro aerial vehicles (multi-rotor helicopters, in the literature also often called unmanned aerial vehicles—UAVs or unmanned aerial system—UAS)...
Merging of appearance-based place knowledge among multiple robots
If robots can merge the appearance-based place knowledge of other robots with their own, they can relate to these places even if they have not previously visited them. We have investigated this problem using robots with compatible visual sensing ...
Observability index optimization of robot calibration based on multiple identification spaces
A calibration method is proposed for six-DoF serial robot based on multiple identification spaces consisting of two subspaces in which the orientations of joint 3 and poses of end-effector are measured simultaneously using hybrid sensors. The ...
A velocity control strategy for collision avoidance of autonomous agricultural vehicles
Collision avoidance ability is very important for autonomous agricultural vehicles, but the influence of different obstacles in agricultural environment is rarely taken into account. In this paper, a velocity control strategy for collision ...
Online trajectory planning and control of a MAV payload system in dynamic environments
Micro Aerial Vehicles (MAVs) can be used for aerial transportation in remote and urban spaces where portability can be exploited to reach previously inaccessible and inhospitable spaces. Current approaches for path planning of MAV swung payload ...
Spatially-dependent Bayesian semantic perception under model and localization uncertainty
Semantic perception can provide autonomous robots operating under uncertainty with more efficient representation of their environment and better ability for correct loop closures than only geometric features. However, accurate inference of ...
Exploration of the applicability of probabilistic inference for learning control in underactuated autonomous underwater vehicles
Underwater vehicles are employed in the exploration of dynamic environments where tuning of a specific controller for each task would be time-consuming and unreliable as the controller depends on calculated mathematical coefficients in idealised ...
