2023
DOI: 10.5194/isprs-archives-xlviii-1-w1-2023-85-2023
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Fueling Glocal: Optimization-Based Path Planning for Indoor Uavs in an Autonomous Exploration Framework

Abstract: Abstract. Exploration is a fundamental problem in robotics that requires robots to navigate through unknown environments to autonomously gather information about their surroundings while executing collision-free paths. In this paper, we propose a method for producing smooth paths during the exploration process in indoor environments using UAVs to improve battery efficiency and enhance the quality of pose estimation. The developed framework is built by merging two approaches that represent the state of the art … Show more

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