88 citations · 98 across the 6 of their papers we have counts for
12 papers
Efficient Hierarchical Any-Angle Path Planning on Multi-Resolution 3D Grids
Victor Reijgwart, Cesar Cadena, Roland Siegwart +1
Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connect…
Obstacle-Avoidant Leader Following with a Quadruped Robot
Carmen Scheidemann, Lennart Werner, Victor Reijgwart +5
Personal mobile robotic assistants are expected to find wide applications in industry and healthcare. For example, people with limited mobility can benefit from robots helping with…
Framework for Robust Localization of UUVs and Mapping of Net Pens
David Botta, Luca Ebner, Andrej Studer +3
This paper presents a general framework integrating vision and acoustic sensor data to enhance localization and mapping in highly dynamic and complex underwater environments, with…
Waverider: Leveraging Hierarchical, Multi-Resolution Maps for Efficient and Reactive Obstacle Avoidance
Victor Reijgwart, Michael Pantic, Roland Siegwart +1
Fast and reliable obstacle avoidance is an important task for mobile robots. In this work, we propose an efficient reactive system that provides high-quality obstacle avoidance whi…
SC-Explorer: Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning
Lukas Schmid, Mansoor Nasir Cheema, Victor Reijgwart +3
Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring u…
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter +38
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy h…