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Artículo
Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR
(MDPI, 2019-11)
This paper addressed the challenge of exploring large, unknown, and unstructured industrial environments with an unmanned aerial vehicle (UAV). The resulting system combined well-known components and techniques with a ...
Artículo
Efficient Lazy Theta* Path Planning over a Sparse Grid to Explore Large 3D Volumes with a Multirotor UAV
(MDPI, 2019-01)
Exploring large, unknown, and unstructured environments is challenging for Unmanned Aerial Vehicles (UAVs), but they are valuable tools to inspect large structures safely and efficiently. The Lazy Theta* path-planning ...
Artículo
Applying Frontier Cells Based Exploration and Lazy Theta* Path Planning over Single Grid-Based World Representation for Autonomous Inspection of Large 3D Structures with an UAS
(Springer, 2019)
Aerial robots are a promising platform to perform autonomous inspection of infrastructures. For this application, the world is a large and unknown space, requiring light data structures to store its representation while ...