41 accepted papers
Typical LiDAR SLAM architectures feature a front-end for odometry estimation and a back-end for refining and optimizing the trajectory and map, commonly through loop closures. However, loop closure detection in large-scale missions presents significant computational challenges due to the need to ide
Typical LiDAR SLAM architectures feature a front-end for odometry estimation and a back-end for refining and optimizing the trajectory and map, commonly through loop closures. However, loop closure detection in large-scale missions presents significant computational challenges due to the need to ide…
In this work, we present a hierarchical framework designed to support robotic inspection under environment uncertainty. By leveraging a known environment model, existing methods plan and safely track inspection routes to visit points of interest. However, discrepancies between the model and actual s…
In this article, we present a framework for deploying aerial multiagent systems in large-scale subterranean environments with minimal supporting infrastructure. The objective is to optimally and reactively execute routine inspection tasks, selected by a mine operator on-the-fly. The assignment of cu…
Accurate environment perception is fundamental for robust robot navigation, mapping, and interaction. Traditional perception pipelines rely on multiple sensors, including stereo cameras and LiDAR, which impose constraints on cost, payload, and system integration. In this paper, we propose a novel si…
Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the large and complex nature of point clouds creates challenges u…
Reliable radar inertial odometry (RIO) requires mitigating IMU bias drift, a challenge that intensifies in subterranean environments due to extreme temperatures and gravity induced accelerations. Cost-effective IMUs such as the Pixhawk, when paired with FMCW TI IWR6843AOP EVM radars, suffer from dri…
Autonomous exploration of obstacle-rich spaces requires strategies that ensure efficiency while guaranteeing safety against collisions with obstacles. This paper investigates a novel platform-agnostic reinforcement learning framework that integrates a graph neural network-based policy for next-waypo…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a hierarchical graph to represent the environment, encoding both geometri
In this article, we present the Layered Semantic Graphs (LSG), a novel actionable hierarchical scene graph, fully integrated with a multi-modal mission planner, the FLIE: A First-Look based Inspection and Exploration planner [1]. The novelty of this work stems from aiming to address the task of main
In this article, we address the problem of collaborative task assignment, sequencing, and multi-agent pathfinding (TSPF), where a team of agents must visit a set of task locations without collisions while minimizing flowtime. TSPF incorporates agent-task compatibility constraints and ensures that al
This work establishes the concept of commonsense scene composition, with a focus on extending Belief Scene Graphs by estimating the spatial distribution of unseen objects. Specifically, the commonsense scene composition capability refers to the understanding of the spatial relationships among relate
The process of object search and relocation in an indoor environment, while intuitive for humans, remains a complex challenge for robots. Enabling robots to perform this task autonomously could have a substantial impact towards automation in both domestic and industrial settings. In this article, as
As industries increasingly adopt large robotic fleets, there is a pressing need for computationally efficient, practical, and optimal conflict-free path planning for multiple robots. Conflict-Based Search (CBS) is a popular method for multi-agent path finding (MAPF) due to its completeness and optim
Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles. This paper introduces a novel decentralized collaborative fra
In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path planning with local geometric awareness to enable collision-free movement in dynamic scenes. The framework bifurcates the pla
This paper presents a novel high-level task planning and optimal coordination framework for autonomous masonry construction, using a team of heterogeneous aerial robotic workers, consisting of agents with separate skills for brick placement and mortar application. This introduces new challenges in s
In this article, we propose a control solution for the safe transfer of a quadrotor UAV between two surface robots positioning itself only using the visual features on the surface robots, which enforces safety constraints for precise landing and visual locking, in the presence of modeling uncertaint…
In this article, we present a reactive multi-agent coordination architecture for the management of material flows between production/pickup stages and delivery/drop-off stages, in scenarios such as underground mines and automated factory floors. The pickup and delivery stages are modelled as variabl…
In this article, we propose the novel concept of Belief Scene Graphs, which are utility-driven extensions of partial 3D scene graphs, that enable efficient high-level task planning with partial information. We propose a graph-based learning methodology for the computation of belief (also referred to…
In this article, we propose a novel communication-based action space enhancement for the D-MARL exploration algorithm to improve the efficiency of mapping an unknown environment, represented by an occupancy grid map. In general, communication between autonomous systems is crucial when exploring larg…
The fifth generation (5G) cellular network technology is mature and increasingly utilized in many industrial and robotics applications, while an important functionality is the advanced Quality of Service (QoS) features. Despite the prevalence of 5G QoS discussions in the related literature, there is…
This article studies the commonsense object affordance concept for enabling close-to-human task planning and task optimization of embodied robotic agents in urban environments. The focus of the object affordance is on reasoning how to effectively identify object’s inherent utility during the task ex…
This article introduces an experimental emulation of a novel chunk-based flexible multi-DoF aerial 3D printing framework. The experimental demonstration of the overall autonomy focuses on precise motion planning and task allocation for a UAV, traversing through a series of planned space-filling path…
In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet’s methodology involves a transformative process: it projects 3D point cl…
In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently explored parts of the environment into regions, such as inters…
In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic scene changes in previously explored areas. The framework is…
In this article, we present a control barrier function (CBF)-based control strategy for safe and precise landing of an unmanned aerial vehicle (UAV) on a moving target. The CBF is time-varying, as it depends on the velocity of the landing platform and captures three crucial safety constraints: (a) c…
This article introduces a novel method for converting 3D voxel maps, commonly utilized by robots for localization and navigation, into 2D occupancy maps for both autonomous aerial vehicles (AAVs) and autonomous ground vehicles (AGVs). The generated 2D maps can be used for more efficient global navig
This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots' poses. The novel proposed solution utilizes state-of-the-art pl…
The future of 3D printing utilizing unmanned aerial vehicles (UAVs) presents a promising capability to revolutionize manufacturing and to enable the creation of large-scale structures in remote and hard-to-reach areas e.g. in other planetary systems. Nevertheless, the limited payload capacity of UAV…
Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments. This article proposes an innovative approach for change detec
In this letter, a floating robotic emulation platform is presented with an autonomous maneuverability for a virtual demonstration of a satellite motion. Such a robotic platform design is characterized by its friction-less, levitating, yet planar motion over a hyper-smooth surface. The design of the
In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles (UAVs) based on nonlinear model predictive control (NMPC), where other agents in the system are considered as dynamic obstacles with respect to the ego agent. Our control scheme operates at a…
This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and path planning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been specifically designed for utilization in 3D exploration missions, wi…
This letter proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in indoor enclosed environments. The introduced framework allows us to consider the nonlinear dynamics of MAVs, nonlinear geometric constraints, while guarantees real
This letter proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation allows for a fully parametric obstacle trajectory, while in this letter we apply a classification scheme to differentiate be
In this article, the adhesion modeling and control case of a Vortex Climbing Robot (VCR) is investigated against a surface of variable orientations. The critical adhesion force exerted from the implemented Vortex Actuator (VA) and the VCR's achievable payload are analyzed under 3-DOF rotations of th…
This work presents an aerial tool towards the autonomous cooperative coverage and inspection of a large scale 3D infrastructure using multiple Unmanned Aerial Vehicles (UAVs). In the presented approach the UAVs are relying only on their onboard computer and sensory system, deployed for inspection of…
In this article, we propose a planning algorithm for coverage of complex structures with a network of robotic sensing agents, with multi-robot surveillance missions as our main motivating application. The sensors are deployed to monitor the external surface of a 3D structure. The algorithm controls…
The aim of this paper is to establish a generalized parameter estimation scheme to online estimate the Center of Gravity (COG) for multirotors, while using a geometric controller to perform position tracking for applications in aerial manipulation. The proposed scheme is developed so the controller…