Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments

Autor: Amanda Bouman, Joshua Ott, Sung-Kyun Kim, Kenny Chen, Mykel J. Kochenderfer, Brett Lopez, Ali-akbar Agha-mohammadi, Joel Burdick

We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated area swep

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d8588afe14f0edc122484a29d21adbe6

NeBula: Team CoSTAR's robotic autonomy solution that won phase II of DARPA Subterranean Challenge

Autor: Ali Agha, Kyohei Otsu, Benjamin Morrell, David Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maira Saboia Da Silva, Benjamin Ramtoula, Seyed Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry Leopold, Hov Melikyan, Hyungho Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick

Publikováno v: Journal of Field Robotics 2: 1432-1506 (2022).

This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques uti

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::fe888e5b3feed8aec3995e3b7f68cd8c
http://hdl.handle.net/10261/305048

Design and Autonomous Stabilization of a Ballistically-Launched Multirotor

Autor: Matthew Anderson, Jacob Izraelevitz, Joel W. Burdick, Amanda Bouman, Brett Kennedy, Paul M. Nadan, Daniel Pastor

Publikováno v: ICRA

Aircraft that can launch ballistically and convert to autonomous, free-flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. Th

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c5a19abb58674560db229e3f3d82e7e0
https://doi.org/10.1109/icra40945.2020.9197542