3 papers
cs.RO2021
A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration
Ana Batinovic, Antun Ivanovic, Tamara Petrovic +1
In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as L…
cs.RO2021
Flying with Cartographer: Adapting the Cartographer 3D Graph SLAM Stack for UAV Navigation
Juraj Orsulić, Robert Milijas, Ana Batinovic +3
This paper describes an application of the Cartographer graph SLAM stack as a pose sensor in a UAV feedback control loop, with certain application-specific changes in the SLAM stac…
cs.RO2020
A Multi-Resolution Frontier-Based Planner for Autonomous 3D Exploration
Ana Batinović, Tamara Petrović, Antun Ivanovic +2
In this paper we propose a planner for 3D exploration that is suitable for applications using state-of-the-art 3D sensors such as lidars, which produce large point clouds with each…