Zobrazeno 1 - 10
of 542
pro vyhledávání: '"Kanellakis, P."'
Loop closure detection in large-scale and long-term missions can be computationally demanding due to the need to identify, verify, and process numerous candidate pairs to establish edge connections for the pose graph optimization. Keyframe sampling m
Externí odkaz:
http://arxiv.org/abs/2501.01791
This paper introduces a novel enhancement to the Decentralized Multi-Agent Reinforcement Learning (D-MARL) exploration by proposing communication-induced action space to improve the mapping efficiency of unknown environments using homogeneous agents.
Externí odkaz:
http://arxiv.org/abs/2412.20075
Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles. This paper
Externí odkaz:
http://arxiv.org/abs/2412.20049
Autor:
Viswanathan, Vignesh Kottayam, Saucedo, Mario Alberto Valdes, Satpute, Sumeet Gajanan, Kanellakis, Christoforos, Nikolakopoulos, George
In this article, we present the Layered Semantic Graphs (LSG), a novel actionable hierarchical scene graph, fully integrated with a multi-modal mission planner, the FLIE: A First-Look based Inspection and Exploration planner. The novelty of this work
Externí odkaz:
http://arxiv.org/abs/2412.19582
Autor:
Viswanathan, Vignesh Kottayam, Saucedo, Mario A. V., Satpute, Sumeet Gajanan, Kanellakis, Christoforos, Nikolakopoulos, George
This article presents xFLIE, a fully integrated 3D hierarchical scene graph based autonomous inspection architecture. Specifically, we present a tightly-coupled solution of incremental 3D Layered Semantic Graphs (LSG) construction and real-time explo
Externí odkaz:
http://arxiv.org/abs/2412.19571
Autor:
Viswanathan, Vignesh Kottayam, Sumathy, Vidya, Kanellakis, Christoforos, Nikolakopoulos, George
In this work, we present an autonomous inspection framework for remote sensing tasks in active open-pit mines. Specifically, the contributions are focused towards developing a methodology where an initial approximate operator-defined inspection plan
Externí odkaz:
http://arxiv.org/abs/2410.10256
Recent advances in robotics are pushing real-world autonomy, enabling robots to perform long-term and large-scale missions. A crucial component for successful missions is the incorporation of loop closures through place recognition, which effectively
Externí odkaz:
http://arxiv.org/abs/2410.02643
Autor:
Saucedo, Mario Alberto Valdes, Stathoulopoulos, Nikolaos, Patel, Akash, Kanellakis, Christoforos, Nikolakopoulos, George
This article studies the commonsense object affordance concept for enabling close-to-human task planning and task optimization of embodied robotic agents in urban environments. The focus of the object affordance is on reasoning how to effectively ide
Externí odkaz:
http://arxiv.org/abs/2409.05392
Autor:
Saucedo, Mario A. V., Stathoulopoulos, Nikolaos, Sumathy, Vidya, Kanellakis, Christoforos, Nikolakopoulos, George
Object detection and global localization play a crucial role in robotics, spanning across a great spectrum of applications from autonomous cars to multi-layered 3D Scene Graphs for semantic scene understanding. This article proposes BOX3D, a novel mu
Externí odkaz:
http://arxiv.org/abs/2408.14941
Autor:
Saucedo, Mario A. V., Patel, Akash, Saradagi, Akshit, Kanellakis, Christoforos, Nikolakopoulos, George
In this article, we propose the novel concept of Belief Scene Graphs, which are utility-driven extensions of partial 3D scene graphs, that enable efficient high-level task planning with partial information. We propose a graph-based learning methodolo
Externí odkaz:
http://arxiv.org/abs/2402.03840