5 accepted papers
Unmanned aerial vehicles (UAVs) have been widely employed to achieve autonomous exploration of 3D unknown environments. However, most existing algorithms suffer from low exploration efficiency caused by inaccurate motion time cost evaluation, which typically leads to the motion inconsistency during …
This paper proposes R-VoxelMap, a novel voxel mapping method that constructs accurate voxel maps using a geometry-driven recursive plane fitting strategy to enhance the localization accuracy of online LiDAR odometry. VoxelMap and its variants typically fit and check planes using all points in a voxe
Mobile robot motion planning heavily relies on grid-based occupancy maps, while existing works require high memory usage and expensive updating overhead. In this work, we propose a memory-lite grid-block data structure and an efficient map updating algorithm for LiDAR-based online exploration-orient…
Efficient data transmission and reasonable task allocation are important to improve multi-robot exploration efficiency. However, most communication data types typically contain redundant information and thus require massive communication volume. Moreover, exploration-oriented task allocation is far
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs). The bottleneck of solving this problem is the accurate percept…