We address the problem of autonomous exploration of unknown environments using a Micro Aerial Vehicle (MAV) equipped with an active depth sensor. As such, the task consists in mapping the gradually discovered environment while planning the envisioned trajectories in real-time, using on-board computation only. To do so, we present SplatPlanner, an end-to-end autonomous planner that is based on a novel Permutohedral Frontier Filtering (PFF) which relies on a combination of highly efficient operations stemming from bilateral filtering using permutohedral lattices to guide the entire exploration.
Installation instructions are provided in the FLYBO wiki. Feel free to create an issue if you have any questions or problems related to this package.
Please consider citing the following works if you use any of the contents provided by this specific subpart of FLYBO:
FLYBO: HAL
@inproceedings{Brunel3DV2021,
TITLE = {FLYBO: A Unified Benchmark Environment for Autonomous Flying Robots},
AUTHOR = {Brunel, Anthony and Bourki, Amine and Strauss, Olivier and Demonceaux, C{\'e}dric},
BOOKTITLE = {9th International Conference on 3D Vision},
ADDRESS = {Online, United Kingdom},
YEAR = {2021}
}
SplatPlanner: IEEE, HAL, Video
@inproceedings{BrunelICRA2021,
>>>>>>> d263d9f259fea3caa85885b1ec93f75ce2572291
title={SplatPlanner: Efficient Autonomous Exploration via Permutohedral Frontier Filtering},
author={Brunel, Anthony and Bourki, Amine and Demonceaux, C{\'e}dric and Strauss, Olivier},
booktitle={IEEE International Conference on Robotics and Automation (ICRA 2021)},
year={2021}
}
Classic Frontier
@inproceedings{yamauchi1997frontier,
title={A frontier-based approach for autonomous exploration},
author={Yamauchi, Brian},
booktitle={Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97.'Towards New Computational Principles for Robotics and Automation'},
pages={146--151},
year={1997},
organization={IEEE}
}
Rapid Frontier
@inproceedings{cieslewski2017rapid,
title={Rapid exploration with multi-rotors: A frontier selection method for high speed flight},
author={Cieslewski, Titus and Kaufmann, Elia and Scaramuzza, Davide},
booktitle={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages={2135--2142},
year={2017},
organization={IEEE}
}
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