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Exploration with ARWs
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-0020-6020
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-1046-0305
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-3922-1735
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-8235-2728
2023 (English)In: Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications / [ed] George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis, Elsevier, 2023, p. 109-127Chapter in book (Other academic)
Abstract [en]

This chapter presents an overview of various exploration schemes with single and multi Aerial Robotic Workers (ARWs) and their applications in Search and Rescue, Environmental Monitoring, and planetary exploration missions, under the assumption that the map is partially known or completely unknown. The presented methods in the chapter are in line with the field deployment of the ARWs in subterranean and planetary exploration missions. The addressed questions will include the operating environment configuration and path planning methods for single and multi-robot exploration. The chapter will also briefly present two exploration strategies in terms of frontier and sampling-based exploration algorithms. More specifically, frontier-based and Rapidly Exploring Random Tree (RRT)-based exploration methodologies with results will be explained in detail.

Place, publisher, year, edition, pages
Elsevier, 2023. p. 109-127
Keywords [en]
Exploration, Unknown environment, ARW, Search and rescue, Frontiers, Planetary exploration, RRT
National Category
Robotics and automation
Research subject
Robotics and Artificial Intelligence
Identifiers
URN: urn:nbn:se:ltu:diva-97385DOI: 10.1016/B978-0-12-814909-6.00013-5Scopus ID: 2-s2.0-85150135982ISBN: 978-0-12-814909-6 (print)OAI: oai:DiVA.org:ltu-97385DiVA, id: diva2:1758943
Available from: 2023-05-24 Created: 2023-05-24 Last updated: 2025-02-09Bibliographically approved

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Patel, AkashKarlsson, SamuelLindqvist, BjörnKoval, Anton

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