Abstract
Exploration of unknown environments using autonomous robots has been considered a fundamental problem in robotics applications such as search and rescue [10], industrial inspection and 3D modelling.
L. Wang and D. Cheng—contributed equally to this work.
This work was supported by HKUST project R9341.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Butzkey, J., Dornbushy, A., Likhachevy, M.: 3-D exploration with an air-ground robotic system. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3241–3248 (2015)
Cieslewski, T., Kaufmann, E., Scaramuzza, D.: Rapid exploration with multi-rotors: a frontier selection method for high speed flight. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2135–2142 (2017)
Connolly, C.: On the application of harmonic functions to robotics. J. Robot. Syst. 10, 931–946 (1993)
Delmerico, J., Mueggler, E., Nitsch, J., Scaramuzza, D.: Active autonomous aerial exploration for ground robot path planning. IEEE Robot. Autom. Lett. 2(2), 664–671 (2017)
Silva, E.P., Engel, P.M., Trevisan, M., Idiart, M.A.P.: Exploration method using harmonic functions. Robot. Auton. Syst. 40(1), 25–42 (2002)
Gao, F., Wu, W., Lin, Y., Shen, S.: Online safe trajectory generation for quadrotors using fast marching method and Bernstein basis polynomial. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (2018)
Likhachev, M., Ferguson, D.: Planning long dynamically feasible maneuvers for autonomous vehicles. Int. J. Robot. Res. 28(8), 933–945 (2009)
Mellinger, D., Kumar, V.: Minimum snap trajectory generation and control for quadrotors. In: International Conference on Robotics and Automation (ICRA), pp. 2520–2525. IEEE (2011)
Qin, T., Li, P., Shen, S.: VINS-Mono: a robust and versatile monocular visual-inertial state estimator. arXiv preprint arXiv:1708.03852 (2017)
Shen, C., Zhang, Y., Li, Z., Gao, F., Shen, S.: Collaborative air-ground target searching in complex environments. In: IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), pp. 230–237 (2017)
Verriest, E.I., Lewis, F.L.: On the linear quadratic minimum-time problem. IEEE Trans. Autom. Control 36(7), 859–863 (1991)
Yamauchi, B.: A frontier-based approach for autonomous exploration. In: Proceedings of 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 1997, pp. 146–151 (1997)
Zhang, J., Singh, S.: LOAM: lidar odometry and mapping in real-time. In: Robotics: Science and Systems Conference (2014)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
1 Electronic supplementary material
Below is the link to the electronic supplementary material.
Supplementary material 1 (mp4 37738 KB)
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Wang, L. et al. (2020). A Collaborative Aerial-Ground Robotic System for Fast Exploration. In: Xiao, J., Kröger, T., Khatib, O. (eds) Proceedings of the 2018 International Symposium on Experimental Robotics. ISER 2018. Springer Proceedings in Advanced Robotics, vol 11. Springer, Cham. https://doi.org/10.1007/978-3-030-33950-0_6
Download citation
DOI: https://doi.org/10.1007/978-3-030-33950-0_6
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-33949-4
Online ISBN: 978-3-030-33950-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)