Robohub.org
 

Autonomous exploration planning using aerial robots

by and
23 May 2016



share this:
aerial-robot-robotics

Autonomous exploration of unknown environments corresponds to a critical ability and a major challenge for aerial robots. In many cases, we would like to rely on the ability of an intelligent flying system to completely and efficiently explore the previously unknown world and derive a consistent map of it. On top of this basic skill, one can then work on several tasks such as infrastructure inspection, hazard detection, and more.

Source: Kostas Alexis, UNR

Source: Dr Kostas Alexis, UNR

Our algorithm “Receding Horizon Next-Best-View Path Planning” is a recent contribution towards enabling the key goal of autonomous exploration. It achieves this by sampling finite-depth candidate paths within the environment, selecting the one that maximizes the amount of new space to be explored, and executes only the first step while then repeating the whole process in a receding horizon fashion. By performing multiple iterative steps of this process the space is fully and efficiently explored, and a volumetric representation is derived. Finally, one can afterwards launch a second mission for higher-fidelity surface inspection and more accurate 3D reconstruction of the environment.

The algorithm has been experimentally verified with aerial robotic platforms equipped with a stereo visual-inertial system, as shown in our video:

Finally, to enable further developments, research collaboration and consistent comparison, we have released an open source version of our exploration planner, experimental datasets and interfaces to established simulation tools, including demo scenarios. To get the code, please visit: https://github.com/ethz-asl/nbvplanner/

This research was conducted at the Autonomous Systems Lab, ETH Zurich and the University of Nevada, Reno.


Reference:

  1. Bircher, M. Kamel, K. Alexis, H. Oleynikova, R. Siegwart, “Receding Horizon “Next-Best-View” Planner for 3D Exploration”, IEEE International Conference on Robotics and Automation 2016 (ICRA 2016), Stockholm, Sweden. Open-Source Git Repo: https://github.com/ethz-asl/nbvplanner


tags: , , , ,


Kostas Alexis is an assistant professor at Computer Science & Engineering of the University of Nevada, Reno
Kostas Alexis is an assistant professor at Computer Science & Engineering of the University of Nevada, Reno

Andreas Bircher is a research engineer at WingTra.
Andreas Bircher is a research engineer at WingTra.





Related posts :



Tesla’s Optimus robot isn’t very impressive – but it may be a sign of better things to come

Musk has now unveiled a prototype of the robot, called Optimus, which he hopes to mass-produce and sell for less than US$20,000 (A$31,000).
04 October 2022, by

Bipedal robot achieves Guinness World Record in 100 metres

Cassie the robot, developed at Oregon State University, records the fastest 100 metres by a bipedal robot.
03 October 2022, by and

Breaking through the mucus barrier

A capsule that tunnels through mucus in the GI tract could be used to orally administer large protein drugs such as insulin.
02 October 2022, by

Women in Tech leadership resources from IMTS 2022

There’ve been quite a few events recently focusing on Women in Robotics, Women in Manufacturing, Women in 3D Printing, in Engineering, and in Tech Leadership. One of the largest tradeshows in the US is IMTS 2022. Here I bring you some resources shared in the curated technical content and leadership sessions.
29 September 2022, by and

MIT engineers build a battery-free, wireless underwater camera

The device could help scientists explore unknown regions of the ocean, track pollution, or monitor the effects of climate change.
27 September 2022, by

How do we control robots on the moon?

In the future, we imagine that teams of robots will explore and develop the surface of nearby planets, moons and asteroids - taking samples, building structures, deploying instruments.
25 September 2022, by , and





©2021 - ROBOTS Association


 












©2021 - ROBOTS Association