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Found 15 papers, 1 papers with code
FRAME: A Modular Framework for Autonomous Map-merging: Advancements in the Field
In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented.
Belief Scene Graphs: Expanding Partial Scenes with Objects through Computation of Expectation
As no database of 3D scene graphs exists for the training of the novel CECI model, we present a novel methodology for generating a 3D scene graph dataset based on semantically annotated real-life 3D spaces.
RecNet: An Invertible Point Cloud Encoding through Range Image Embeddings for Multi-Robot Map Sharing and Reconstruction
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.
Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty
In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints.
Autonomous Point Cloud Segmentation for Power Lines Inspection in Smart Grid
Finally, all high elevation points in the PLC are identified based on their distance to the newly segmented power lines.
Efficient Real-time Smoke Filtration with 3D LiDAR for Search and Rescue with Autonomous Heterogeneous Robotic Systems
Search and Rescue (SAR) missions in harsh and unstructured Sub-Terranean (Sub-T) environments in the presence of aerosol particles have recently become the main focus in the field of robotics.
Irregular Change Detection in Sparse Bi-Temporal Point Clouds using Learned Place Recognition Descriptors and Point-to-Voxel Comparison
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.
Multimodal Dataset from Harsh Sub-Terranean Environment with Aerosol Particles for Frontier Exploration
Thus, there is a need of fusing acquired data from these sensors with data from Radio Detection and Rangings (RADARs) which can penetrate through such particles.
Event Camera and LiDAR based Human Tracking for Adverse Lighting Conditions in Subterranean Environments
In the proposed approach, information from the event camera and LiDAR are fused to localize a human or an object-of-interest in a robot's local frame.
FRAME: Fast and Robust Autonomous 3D point cloud Map-merging for Egocentric multi-robot exploration
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.
An Edge Architecture Oriented Model Predictive Control Scheme for an Autonomous UAV Mission
MPC requires more computation power in comparison to other controllers, such as PID or LQR, since it use cost functions, optimization methods and iteratively predicts the output of the system and the control commands for some determined steps in the future (prediction horizon).
Safe Autonomous Docking Maneuvers for a Floating Platform based on Input Sharing Control Barrier Functions
Control barrier functions are designed to impose the safety, direction of approach and visual locking constraints.
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge.
Unsupervised Learning for Subterranean Junction Recognition Based on 2D Point Cloud
This article proposes a novel unsupervised learning framework for detecting the number of tunnel junctions in subterranean environments based on acquired 2D point clouds.
A Subterranean Virtual Cave World for Gazebo based on the DARPA SubT Challenge
Subterranean environments with lots of obstacles, including narrow passages, large voids, rock falls and absence of illumination were always challenging for control, navigation, and perception of mobile robots.
Robotics
