4 papers
R-VoxelMap: Accurate Voxel Mapping with Recursive Plane Fitting for Online LiDAR Odometry
Haobo Xi, Shiyong Zhang, Qianli Dong +4
This paper proposes R-VoxelMap, a novel voxel mapping method that constructs accurate voxel maps using a geometry-driven recursive plane fitting strategy to enhance the localizatio…
EDEN: Efficient Dual-Layer Exploration Planning for Fast UAV Autonomous Exploration in Large 3-D Environments
Qianli Dong, Xuebo Zhang, Shiyong Zhang +3
Efficient autonomous exploration in large-scale environments remains challenging due to the high planning computational cost and low-speed maneuvers. In this paper, we propose a fa…
FSMP: A Frontier-Sampling-Mixed Planner for Fast Autonomous Exploration of Complex and Large 3-D Environments
Shiyong Zhang, Xuebo Zhang, Qianli Dong +3
In this paper, we propose a systematic framework for fast exploration of complex and large 3-D environments using micro aerial vehicles (MAVs). The key insight is the organic integ…
Fast and Communication-Efficient Multi-UAV Exploration Via Voronoi Partition on Dynamic Topological Graph
Qianli Dong, Haobo Xi, Shiyong Zhang +4
Efficient data transmission and reasonable task allocation are important to improve multi-robot exploration efficiency. However, most communication data types typically contain red…