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 :



Robot Talk Episode 64 – Rav Chunilal

In the latest episode of the Robot Talk podcast, Claire chatted to Rav Chunilal from Sellafield all about robotics and AI for nuclear decommissioning.
31 December 2023, by

AI holidays 2023

Thanks to those that sent and suggested AI and robotics-themed holiday videos, images, and stories. Here’s a sample to get you into the spirit this season....
31 December 2023, by and

Faced with dwindling bee colonies, scientists are arming queens with robots and smart hives

By Farshad Arvin, Martin Stefanec, and Tomas Krajnik Be it the news or the dwindling number of creatures hitting your windscreens, it will not have evaded you that the insect world in bad shape. ...
31 December 2023, by

Robot Talk Episode 63 – Ayse Kucukyilmaz

In the latest episode of the Robot Talk podcast, Claire chatted to Ayse Kucukyilmaz from the University of Nottingham about collaboration, conflict and failure in human-robot interactions.
31 December 2023, by

Interview with Dautzenberg Roman: #IROS2023 Best Paper Award on Mobile Manipulation sponsored by OMRON Sinic X Corp.

The award-winning author describe their work on an aerial robot which can exert large forces onto walls.
19 November 2023, by

Robot Talk Episode 62 – Jorvon Moss

In the latest episode of the Robot Talk podcast, Claire chatted to Jorvon (Odd-Jayy) Moss from Digikey about making robots at home, and robot design and aesthetics.
17 November 2023, by





©2024 - Association for the Understanding of Artificial Intelligence


 












©2021 - ROBOTS Association