Andreas Bircher — accepted AI-conference papers

2016

Receding horizon "next-best-view" planner for 3D exploration

Andreas Bircher, Mina Kamel, Kostas Alexis, Helen Oleynikova, Roland Siegwart

ICRA 2016

This paper presents a novel path planning algorithm for the autonomous exploration of unknown space using aerial robotic platforms. The proposed planner employs a receding horizon “next-best-view” scheme: In an online computed random tree it finds the best branch, the quality of which is determined

Cited by 665 Source ↗Scholar ↗

2015

Structural inspection path planning via iterative viewpoint resampling with application to aerial robotics

Andreas Bircher, Kostas Alexis, Michael Burri, Philipp Oettershagen, Sammy Omari, Thomas Mantel +1

ICRA 2015poster

Within this paper, a new fast algorithm that provides efficient solutions to the problem of inspection path planning for complex 3D structures is presented. The algorithm assumes a triangular mesh representation of the structure and employs an alternating two-step optimization paradigm to find good…

Cited by 294 Source ↗Scholar ↗