Experimental evaluation of autonomous map-based Spot navigation in confined environments

Koval, Anton; Karlsson, Samuel; Nikolakopoulos, George

doi:10.1016/j.birob.2022.100035

Cited by 20 publications

(8 citation statements)

References 15 publications

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“…For the experiments, two robotic platforms were used, one legged and one aerial. As a legged platform, Spot the quadruped robot from Boston Dynamics [38] was used, and was equipped with an autonomy package [39], that includes the Velodyne Puck Hi-Res 3D LiDAR and an Intel NUC on-board computer with an Intel Core i5-10210U and 8GB of RAM. The aerial robot is a custom-built quadrotor [3] carrying a Velodyne VLP16 PuckLite 3D LiDAR and the same on-board computer as the legged robot.…”

Section: Experimental Evaluation a Datasets And Platformsmentioning

confidence: 99%

FRAME: Fast and Robust Autonomous 3D point cloud Map-merging for Egocentric multi-robot exploration

Stathoulopoulos¹,

Koval²,

Agha–mohammadi³

et al. 2023

Preprint

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This article presents a 3D point cloud mapmerging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots' poses. The novel proposed solution utilizes stateof-the-art place recognition learned descriptors, that through the framework's main pipeline, offer a fast and robust region overlap estimation, hence eliminating the need for the timeconsuming global feature extraction and feature matching process that is typically used in 3D map integration. The region overlap estimation provides a homogeneous rigid transform that is applied as an initial condition in the point cloud registration algorithm Fast-GICP, which provides the final and refined alignment. The efficacy of the proposed framework is experimentally evaluated based on multiple field multi-robot exploration missions in underground environments, where both ground and aerial robots are deployed, with different sensor configurations.

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Section: Experimental Evaluation a Datasets And Platformsmentioning

confidence: 99%

FRAME: Fast and Robust Autonomous 3D point cloud Map-merging for Egocentric multi-robot exploration

Stathoulopoulos¹,

Koval²,

Agha–mohammadi³

et al. 2023

Preprint

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“…The multi-robot dense mapping literature considers various approaches [42] that have been proposed as concepts, including sub-map matching, sharing and alignment, factor graphs integrating inter-robot observations, segmentation and descriptors map fusion formulated in a probabilistic framework [43,44]. A map-based motion planning and autonomous navigation are presented in [45]. Perception modalities have also been reported in planetary rover navigation, terrain classification, and mapping [46].…”

Section: Collaborative Sensing Localization and Mappingmentioning

confidence: 99%

Resiliency in Space Autonomy: a Review

et al. 2023

Self Cite

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Purpose of Review: The article provides an extensive overview on the resilient autonomy advances made across various missions, orbital or deep-space, that captures the current research approaches while investigating the possible future direction of resiliency in space autonomy. Recent Findings: In recent years, the need for several automated operations in space applications has been rising, that ranges from the following: spacecraft proximity operations, navigation and some station keeping applications, entry, decent and landing, planetary surface exploration, etc. Also, with the rise of miniaturization concepts in spacecraft, advanced missions with multiple spacecraft platforms introduce more complex behaviours and interactions within the agents, which drives the need for higher levels of autonomy and accommodating collaborative behaviour coupled with robustness to counter unforeseen uncertainties. This collective behaviour is now referred to as resiliency in autonomy. As space missions are getting more and more complex, for example applications where a platform physically interacts with non-cooperative space objects (debris) or planetary bodies coupled with hostile, unpredictable, and extreme environments, there is a rising need for resilient autonomy solutions. Summary Resilience with its key attributes of robustness, redundancy and resourcefulness will lead toward new and enhanced mission paradigms of space missions.

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“…Relocalization in the original maps was accomplished by the process, letting Cartographer acquire the global testing approaches needed for just using maps for waypoint navigation. In the future, we will be able to find slopes and rough terrain and concoct a dynamic controller for the robot spot by producing a traversability map and assessing 3D scenarios (Madhu, & Balasubramanian, 2017; Olga et al., 2020, Koval, 2022).…”

Section: Biomimicry‐based Strategiesmentioning

confidence: 99%

Biomimicry: How the environment serves as a guide for technological advancements

Thiagarajan,

Naveen,

Madhu

et al. 2023

Environmental Quality Mgmt

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Multiple ecological tactics, like the ones described here, can be imitated to strongly affect these two components in the construction sector. This article provides an in-depth examination of the literature on biomimicry-based strategies intended to enhance building designs. This analysis is motivated by the rising need for energy legislation to achieve future local goals and provide a framework for use in Panama.These biomimicry-based methods have undergone more review and evaluation, and the incorporation of organism-based design for three of Panama's climate types has been proposed. Therefore, a SWOT analysis assisted in realizing the full potential that biomimicry-based techniques might have in raising the likelihood of satisfying local and international regulatory standards. In order to design constructions using biomimicry, multidisciplinary collaboration is required. This gives a competitive edge for better-trained human resources and expands horizons in the conventional construction industry. Finally, the analysis provided here might act as the preliminary step for the additional technical assessment using numerical and experimental procedures.

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Experimental evaluation of autonomous map-based Spot navigation in confined environments

Cited by 20 publications

References 15 publications

FRAME: Fast and Robust Autonomous 3D point cloud Map-merging for Egocentric multi-robot exploration

FRAME: Fast and Robust Autonomous 3D point cloud Map-merging for Egocentric multi-robot exploration

Resiliency in Space Autonomy: a Review

Biomimicry: How the environment serves as a guide for technological advancements

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