dc.contributor.author | Dharmadhikari, Mihir Rahul | |
dc.contributor.author | Alexis, Konstantinos | |
dc.date.accessioned | 2024-04-11T12:21:34Z | |
dc.date.available | 2024-04-11T12:21:34Z | |
dc.date.created | 2024-03-06T13:16:59Z | |
dc.date.issued | 2023 | |
dc.identifier.isbn | 979-8-3503-2365-8 | |
dc.identifier.uri | https://hdl.handle.net/11250/3126110 | |
dc.description.abstract | This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities of particular interest, the proposed method offers volumetric exploration combined with two new planning behaviors that together ensure that a complete mesh model is reconstructed for each semantic, while its surfaces are observed at appropriate resolution and through suitable viewing angles. Evaluated in extensive simulation studies and experimental results using a flying robot, the planner delivers efficient combined exploration and high-fidelity inspection planning that is focused on the semantics of interest. Comparisons against relevant methods of the state-of-the-art are further presented. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.relation.ispartof | 2023 IEEE International Conference on Robotics and Automation (ICRA) | |
dc.title | Semantics-aware Exploration and Inspection Path Planning | en_US |
dc.title.alternative | Semantics-aware Exploration and Inspection Path Planning | en_US |
dc.type | Chapter | en_US |
dc.description.version | acceptedVersion | en_US |
dc.rights.holder | © Copyright 2023 IEEE - All rights reserved. | en_US |
dc.source.pagenumber | 3360-3367 | en_US |
dc.identifier.cristin | 2252418 | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |