4 accepted papers
A flexible topological representation consisting of a two-layer graph structure built on-board an Unmanned Aerial Vehicle (UAV) by continuously filling the free space of an occupancy map with intersecting spheres is proposed in this letter. Most state-of-the-art planning methods find the shortest pa
This letter presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally applicable to an arbitrary exploration task within an unknown and
In this letter we present an autonomous system intended for aerial monitoring, inspection and assistance in Search and Rescue (SAR) operations within a constrained workspace. The proposed system is designed for deployment in demanding real-world environments with extremely narrow passages only sligh
This letter presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a nondifferentiable physics simulator of robot–terrain interactions is available. The multimodal state estimation of the robot is also complex and difficult to simulate, so we simult