3 papers
cs.RO2024
Trajectory Optimization for Adaptive Informative Path Planning with Multimodal Sensing
Joshua Ott, Edward Balaban, Mykel Kochenderfer
We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environmen…
cs.RO2023
Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs
Muhammad Fadhil Ginting, Sung-Kyun Kim, Oriana Peltzer +4
To achieve autonomy in unknown and unstructured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is crucial for safe and…
cs.RO2023
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments
Amanda Bouman, Joshua Ott, Sung-Kyun Kim +5
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked w…