Back to Search
Start Over
Towards a Reduced Dependency Framework for Autonomous Unified Inspect-Explore Missions
- Publication Year :
- 2023
-
Abstract
- The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures is dealt with view-planning being addressed by map-based approaches. In this article, we propose a novel approach towards effective use of Micro Aerial Vehicles (MAVs) for obtaining a 3-D shape of an unknown structure of objects utilizing a map-independent planning framework. The problem is undertaken via a bifurcated approach to address the task of executing a closer inspection of detected structures with a wider exploration strategy to identify and locate nearby structures, while being equipped with limited sensing capability. The proposed framework is evaluated experimentally in a controlled indoor environment in presence of a mock-up environment validating the efficacy of the proposed inspect-explore policy.
- Subjects :
- Computer Science - Robotics
Subjects
Details
- Database :
- arXiv
- Publication Type :
- Report
- Accession number :
- edsarx.2309.00535
- Document Type :
- Working Paper