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cs.RO2024
HPHS: Hierarchical Planning based on Hybrid Frontier Sampling for Unknown Environments Exploration
Shijun Long, Ying Li, Chenming Wu +2
Rapid sampling from the environment to acquire available frontier points and timely incorporating them into subsequent planning to reduce fragmented regions are critical to improve…
cs.RO2024
HEROS: Hierarchical Exploration with Online Subregion Updating for 3D Environment Coverage
Shijun Long, Ying Li, Chenming Wu +2
We present an autonomous exploration system for efficient coverage of unknown environments. First, a rapid environment preprocessing method is introduced to provide environmental i…