This paper introduces a robust frame-work for autonomous exploration using UAVs in uncooperative indoor environments, i.e. destroyed, unknown, and with limited visibility. The proposed system integrates a LiDAR-based Simultaneous Localization and Mapping (SLAM) algorithm, a Euclidian/Truncated Signed Distance Field (E/TSDF) mapping approach, a frontier-based exploration logic, a B-Spline motion planner, and a parallel Collision Avoidance (CA) module to ensure safe and efficient navigation through unexplored areas in real-time. Successful validation in simulated environments demonstrates the system's robustness in handling real-world issues such as odometry uncertainty, depleted point clouds, and intermittent networking in distributed setups.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Robust LiDAR-Based Indoor Exploration Framework For UAVs in Uncooperative Environments


    Beteiligte:


    Erscheinungsdatum :

    04.06.2024


    Format / Umfang :

    4680726 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Uncooperative pose estimation with a LIDAR-based system

    Opromolla, Roberto | Online Contents | 2014



    Spaceborne LIDAR-based system for pose determination of uncooperative targets

    Opromolla, Roberto / Fasano, Giancarmine / Rufino, Giancarlo et al. | IEEE | 2014


    ROBUST NAVIGATION FRAMEWORK FOR UNCOOPERATIVE PROXIMITY OPERATIONS USING MONOCULAR IMAGES AND DEEP LEARNING

    Barad, Kuldeep Rambhai / Cassinis, Lorenzo Pasqualetto / Menicucei, Alessandra et al. | TIBKAT | 2021


    LIDAR pointing and parameters control for close proximity operations with uncooperative target

    Nocerino, Alessia / Opromolla, Roberto / Fasano, Giancarmine et al. | IEEE | 2021