155 citations · 307 across the 14 of their papers we have counts for
6 papers · 1 filter
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…
Frontier-based Automatic-differentiable Information Gain Measure for Robotic Exploration of Unknown 3D Environments
Di Deng, Zhefan Xu, Wenbo Zhao +1
The path planning problem for autonomous exploration of an unknown region by a robotic agent typically employs frontier-based or information-theoretic heuristics. Frontier-based he…
Coordinated Aerial-Ground Robot Exploration via Monte-Carlo View Quality Rendering
Di Deng, Zhefan Xu, Wenbo Zhao +1
We present a framework for a ground-aerial robotic team to explore large, unstructured, and unknown environments. In such exploration problems, the effectiveness of existing explor…
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…
Multi-Resolution Graph Neural Network for Large-Scale Pointcloud Segmentation
Liuyue Xie, Tomotake Furuhata, Kenji Shimada
In this paper, we propose a multi-resolution deep-learning architecture to semantically segment dense large-scale pointclouds. Dense pointcloud data require a computationally expen…
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…