4 citations · 4 across the 11 of their papers we have counts for
9 papers · 1 filter
GPU-Accelerated Path-Dependent Marginal Information Gain for Autonomous Exploration
João Félix Mendes, Rodrigo Ventura, Meysam Basiri
Autonomous exploration demands that robots continuously evaluate candidate viewpoints based on their expected information gain and execution cost. Sampling-based planners estimate…
Centralized Multi-UAV Exploration and 3D Reconstruction Using Single-UAV Planners
João Félix Mendes, Meysam Basiri, Rodrigo Ventura
Extending single Unmanned Aerial Vehicles (UAVs) exploration methods to multi-UAV teams can improve coverage speed and robustness, but introduces challenges such as consistent mapp…
Asymptotically-Bounded 3D Frontier Exploration enhanced with Bayesian Information Gain
John Lewis, Meysam Basiri, Pedro U. Lima
Robotic exploration in large-scale environments is computationally demanding due to the high overhead of processing extensive frontiers. This article presents an OctoMap-based fron…
Enhancing Multi-Robot Exploration Using Probabilistic Frontier Prioritization with Dirichlet Process Gaussian Mixtures
John Lewis Devassy, Meysam Basiri, Mário A. T. Figueiredo +1
Multi-agent autonomous exploration is essential for applications such as environmental monitoring, search and rescue, and industrial-scale surveillance. However, effective coordina…
Lightweight 3D LiDAR-Based UAV Tracking: An Adaptive Extended Kalman Filtering Approach
Nivand Khosravi, Meysam Basiri, Rodrigo Ventura
Accurate relative positioning is crucial for swarm aerial robotics, enabling coordinated flight and collision avoidance. Although vision-based tracking has been extensively studied…
Unsupervised LiDAR-Based Multi-UAV Detection and Tracking Under Extreme Sparsity
Nivand Khosravi, Rodrigo Ventura, Meysam Basiri
Non-repetitive solid-state LiDAR scanning leads to an extremely sparse measurement regime for detecting airborne UAVs: a small quadrotor at 10-25 m typically produces only 1-2 retu…
Robust Cooperative Localization in Featureless Environments: A Comparative Study of DCL, StCL, CCL, CI, and Standard-CL
Nivand Khosravi, Rodrigo Ventura, Meysam Basiri
Cooperative localization (CL) enables accurate position estimation in multi-robot systems operating in GPS-denied environments. This paper presents a comparative study of five CL a…
Distributed Kalman--Consensus Filtering with Adaptive Uncertainty Weighting for Multi-Object Tracking in Mobile Robot Networks
Niusha Khosravi, Rodrigo Ventura, Meysam Basiri
This paper presents an implementation and evaluation of a Distributed Kalman--Consensus Filter (DKCF) for Multi-Object Tracking (MOT) in mobile robot networks operating under parti…
Path Planning Optimisation for SParse, AwaRe and Cooperative Networked Aerial Robot Teams (SpArC-NARTs): Optimisation Tool and Ground Sensing Coverage Use Cases
Maria Conceição, António Grilo, Meysam Basiri
A networked aerial robot team (NART) comprises a group of agents (e.g., unmanned aerial vehicles (UAVs), ground control stations, etc.) interconnected by wireless links. Inter-agen…