Publications (11)
Multi-UAV Coverage Path Planning for the Inspection of Large and Complex Structures
Wei Jing, Di Deng, Yan Wu +1
We present a multi-UAV Coverage Path Planning (CPP) framework for the inspection of large-scale, complex 3D structures. In the proposed sampling-based coverage path planning method…
Autonomous UAV Exploration of Dynamic Environments via Incremental Sampling and Probabilistic Roadmap
Zhefan Xu, Di Deng, Kenji Shimada
Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration…
Robotic Exploration of Unknown 2D Environment Using a Frontier-based Automatic-Differentiable Information Gain Measure
Di Deng, Runlin Duan, Jiahong Liu +2
At the heart of path-planning methods for autonomous robotic exploration is a heuristic which encourages exploring unknown regions of the environment. Such heuristics are typically…
Heterogeneous Vehicles Routing for Water Canal Damage Assessment
Di Deng, Tao Pang, Prasanth Palli +2
In Japan, inspection of irrigation water canals has been mostly conducted manually. However, the huge demand for more regular inspections as infrastructure ages, coupled with the l…
Coverage Path Planning using Path Primitive Sampling and Primitive Coverage Graph for Visual Inspection
Wei Jing, Di Deng, Zhe Xiao +2
Planning the path to gather the surface information of the target objects is crucial to improve the efficiency of and reduce the overall cost, for visual inspection applications wi…
ExpertGen: Scalable Sim-to-Real Expert Policy Learning from Imperfect Behavior Priors
Zifan Xu, Ran Gong, Maria Vittoria Minniti +10
Learning generalizable and robust behavior cloning policies requires large volumes of high-quality robotics data. While human demonstrations (e.g., through teleoperation) serve as…