Autonomous Exploration with Terrestrial-Aerial Bimodal Vehicles
Terrestrial-aerial bimodal vehicles, which integrate the high mobility of aerial robots with the long endurance of ground robots, offer significant potential for autonomous exploration. Given the inherent energy and time constraints in practical exploration tasks, we present a hierarchical framework for the bimodal vehicle to utilize its flexible locomotion modalities for exploration. Beginning with extracting environmental information to identify informative regions, we generate a set of potential bimodal viewpoints. To adaptively manage energy and time constraints, we introduce an extended Monte Carlo Tree Search approach that strategically optimizes both modality selection and viewpoint sequencing. Combined with an improved bimodal vehicle motion planner, we present a complete bimodal energy- and time-aware exploration system. Extensive simulations and deployment on a customized real-world platform demonstrate the effectiveness of our system.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Disturbance-Aware Dynamical Trajectory Planning for Air-Land Bimodal Vehicles
Air-land bimodal vehicles provide a promising solution for navigating complex environments by combining the flexibility of aerial locomotion with the energy efficiency of ground mobility. However, planning dynamically fe…
Trajectory PlanningEvaluation of 3D Terrestrial and Aerial Spectrum Sharing with Massive MIMO Systems
Connecting aerial and terrestrial users with a single base station (BS) is increasingly challenging due to the rising number of aerial users like unmanned aerial vehicles (UAVs). Traditional BSs, designed with down-tilte…
SchedulingAutonomous Systems: Autonomous Systems: Indoor Drone Navigation
Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of …
Autonomous NavigationDrone navigationOn the Optimal 3D Placement of a UAV Base Station for Maximal Coverage of UAV Users
Unmanned aerial vehicles (UAVs) can be users that support new applications, or be communication access points that serve terrestrial and/or aerial users. In this paper, we focus on the connectivity problem of aerial user…
Autonomous Reality Modelling for Cultural Heritage Sites employing cooperative quadrupedal robots and unmanned aerial vehicles
Nowadays, the use of advanced sensors, such as terrestrial 3D laser scanners, mobile LiDARs and Unmanned Aerial Vehicles (UAV) photogrammetric imaging, has become the prevalent practice for 3D Reality Modeling and digiti…
Management