7 papers · 1 filter
SubTGraph: Large-Scale Subterranean Environment Synthesis with Controllable Topological Variability for Robotic Autonomy Validation
F. Labra Caso, A. Saradagi, S. Fredriksson +3
Subterranean (SubT) environments have been a frontier for autonomous robotics, driven by the push for automation of mining operations and the interest in planetary exploration (Mar…
Fast Expanding Safe Circular Regions for Efficient Local Path Planning
Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window App…
An Adaptive Inspection Planning Approach Towards Routine Monitoring in Uncertain Environments
Vignesh Kottayam Viswanathan, Yifan Bai, Scott Fredriksson +3
In this work, we present a hierarchical framework designed to support robotic inspection under environment uncertainty. By leveraging a known environment model, existing methods pl…
Multi-Agent Path Finding Using Conflict-Based Search and Structural-Semantic Topometric Maps
Scott Fredriksson, Yifan Bai, Akshit Saradagi +1
As industries increasingly adopt large robotic fleets, there is a pressing need for computationally efficient, practical, and optimal conflict-free path planning for multiple robot…
Voxel Map to Occupancy Map Conversion Using Free Space Projection for Efficient Map Representation for Aerial and Ground Robots
Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos
This article introduces a novel method for converting 3D voxel maps, commonly utilized by robots for localization and navigation, into 2D occupancy maps for both unmanned aerial ve…
Robotic Exploration through Semantic Topometric Mapping
Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos
In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map…