The availability of efficient map** systems to produce accurate representations of initially
unknown environments is recognized as one of the main requirements for autonomous …

Exploration tasks are embedded in many robotics applications, such as search and rescue
and space exploration. Information-based exploration algorithms aim to find the most …

A key trait of an autonomous robot is the ability to plan its own motion in order to accomplish
specified tasks. Often, the objective of motion planning is to change the state of the world by …

A novel strategy is presented to determine the next-best view for a robot arm, equipped with
a depth camera in eye-in-hand configuration, which is oriented to autonomous exploration of …

We consider the task of actively exploring unstructured environments to facilitate robotic
gras** of occluded objects. Typically, the geometry and locations of these objects are not …

We present an integrated and fully autonomous eye-in-hand system for 3D object modeling.
The system hardware consists of a laser range scanner mounted on a six-DOF manipulator …

We address the motion planning (MP) subproblem that arises in a robotic exploration and
map** task. We consider sensing, localization and map** uncertainties in the motion …

In this paper, we consider the problem of localization in a multi-robot system. We present a
new approach focused on distribution, scalability, and minimum-uncertainty perception. An …

We present a hierarchical and adaptive mobile manipulator planner (HAMP) that plans for
both the base and the arm in a judicious manner—allowing the manipulator to change its …

We propose a method for multi-modal scene exploration where initial object hypothesis
formed by active visual segmentation are confirmed and augmented through haptic …