5 accepted papers
Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones outside the field of view accumulate uncertainty, making them prog
Exploration is a critical challenge in robotics, centered on understanding unknown environments. In this work, we focus on structured indoor environments, which often exhibit predictable, repeating patterns. Conventional frontier-based exploration approaches have difficulty leveraging this predictab
Autonomous exploration in unknown environments requires estimating the information gain of an action to guide planning decisions. While prior approaches often compute information gain at discrete waypoints, pathwise integration offers a more comprehensive estimation but is often computationally chal
Time-optimal path planning in high winds for a turning-rate constrained Uncrewed Aerial Vehicle is a challenging problem to solve and is important for deployment and field operations. Previous works have used trochoidal path segments comprising straight and maximum-rate turn segments, as optimal ext
A high-quality estimate of wind fields can potentially improve the safety and performance of Unmanned Aerial Vehicles (UAVs) operating in dense urban areas. Computational Fluid Dynamics (CFD) simulations can help provide a wind field estimate, but their accuracy depends on the knowledge of the distr…