Exploration is an important aspect of robotics, whether it for mapping, rescue missions or path planning in unknown environment.Frontier (FEP) and Receding Horizon Next-Best-View (RH-NBVP) are two different approaches with strengths weaknesses.FEP explores a large environment consisting separate regions ease, but slow at reaching full exploration due to moving back forth between regions.RH-NBVP shows great potential efficiently individual regions, has the disadvantage that can get stuck...

While feature association to a <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">global map</i> has significant benefits, keep the computations from growing exponentially, most lidar-based odometry and mapping methods opt associate features with xmlns:xlink="http://www.w3.org/1999/xlink">local maps</i> at one voxel scale. Taking advantage of fact that xmlns:xlink="http://www.w3.org/1999/xlink">surfels</i> (surface elements) different scales can...

PFAS are ubiquitous industrial chemicals with known adverse health effects, particularly on the liver. The liver, being a vital metabolic organ, is susceptible to PFAS-induced dysregulation, leading conditions such as hepatotoxicity and disturbances. In this study, we investigated phenotypic responses of exposure using two hepatocyte models, HepG2 (male cell line) HepaRG (female line), aiming define alterations, disturbances at metabolite pathway levels. mixture composition was selected...

3D models are an essential part of many robotic applications. In applications where the environment is unknown a-priori, or only a known, it important that model can handle space efficiently. Path planning, exploration, and reconstruction all fall into this category. letter we present extension to OctoMap which call UFOMap. UFOMap uses explicit representation three states in map, i.e., unknown, free, occupied. This gives, surprisingly, more memory efficient representation. We provide methods...

We propose UFOExplorer, a fast and efficient exploration method that scales well with the environment size. An paradigm driven by map updates is proposed to enable robot react quicker always move towards optimal goal. For each update, dense graph-based planning structure updated extended. The then used generate path using simple heuristic, which guides closest size, as cost amortized when updating extending structure. heuristic performs on par most recent state-of-the-art methods in smaller...

In the field of robotics, point cloud has become an essential map representation. From perspective downstream tasks like localization and global path planning, points corresponding to dynamic objects will adversely affect their performance. Existing methods for removing in clouds often lack clarity comparative evaluations comprehensive analysis. Therefore, we propose easy-to-extend unified benchmarking framework evaluating techniques maps. It includes refactored state-of-art novel metrics...

The dynamic nature of the real world is one main challenges in robotics. first step dealing with it to detect which parts are dynamic. A typical benchmark task create a map that contains only static part support, for example, localization and planning. Current solutions often applied post-processing, where parameter tuning allows user adjust setting specific dataset. In this paper, we propose DUFOMap, novel awareness mapping framework designed efficient online processing. Despite having same...

Algorithms for autonomous robotic exploration usually focus on optimizing time and coverage, often in a greedy fashion. However, obstacle inflation is conservative might limit mapping capabilities even prevent the robot from moving through narrow, important places. This letter proposes method to influence manner moves environment by taking into consideration user-defined spatial preference formulated fragment of signal temporal logic (STL). We propose guide motion planning toward minimizing...

Polycyclic aromatic compounds (PACs) are organic commonly found in contaminated soil. Previous studies have shown the removal of polycyclic hydrocarbons (PAHs) creosote-contaminated soils during steam enhanced extraction (SEE). However, less is known about alkyl-PAHs and heterocyclic compounds, such as azaarenes, oxygen- sulfur-heterocyclic PACs (OPACs PASHs, respectively). Further, impact SEE on freely dissolved concentration soil well bioactivity pre- post-SEE yet to be addressed. To...

Maps play a key role in rapidly developing area of autonomous driving. We survey the literature for different map representations and find that while world is three-dimensional, it common to rely on 2D order meet real-time constraints. believe high levels situation awareness require 3D representation as well inclusion semantic information. demonstrate our recently presented hierarchical grid mapping framework UFOMap meets Furthermore, we show how can be used efficiently support more complex...

This paper presents a collision avoidance method for tele-operated unmanned aerial vehicles (UAVs). The is designed to assist the operator at all times, such that can focus solely on main objectives instead of avoiding obstacles. We restrict altitude be fixed in three dimensional environment simplify control and operation UAV. contributes number desired properties not found other systems UAVs. Our i) handle situations where there no input from user by actively stopping proceeding avoid...

The dynamic nature of the real world is one main challenges in robotics. first step dealing with it to detect which parts are dynamic. A typical benchmark task create a map that contains only static part support, for example, localization and planning. Current solutions often applied post-processing, where parameter tuning allows user adjust setting specific dataset. In this paper, we propose DUFOMap, novel awareness mapping framework designed efficient online processing. Despite having same...

In environments like offices, the duration of a robot's navigation between two locations may vary over time. For instance, reaching kitchen take more time during lunchtime since corridors are crowded with people heading same way. this work, we address problem routing in such tasks expressed Metric Interval Temporal Logic (MITL) - rich robot task specification language that allows us to capture explicit requirements. Our objective is find strategy maximizes temporal robustness MITL task. As...

The task of exploration does not end when the robot has covered entire environment. world is dynamic and to model this property keep map up date needs re-explore. In work, we present an approach long-term that builds on prior work mapping, volumetric representations space, planning. main contribution our a novel formulation information gain function controls so it trades off revisiting highly areas where changes are very likely with covering rest environment ensure both coverage up-to-date...

In map-predictive exploration planning, the aim is to exploit a-priori map information improve planning for in otherwise unknown environments. The use of predictions leads exacerbated greediness, as allow planner defer exploring parts environment that have low value, e.g., unfinished corners. This behavior undesirable, it leaves holes explored space by design. To this end, we propose a scoring function based on inverse covisibility rewards visiting these low-value parts, resulting more...

In the field of robotics, point cloud has become an essential map representation. From perspective downstream tasks like localization and global path planning, points corresponding to dynamic objects will adversely affect their performance. Existing methods for removing in clouds often lack clarity comparative evaluations comprehensive analysis. Therefore, we propose easy-to-extend unified benchmarking framework evaluating techniques maps. It includes refactored state-of-art novel metrics...

3D models are an essential part of many robotic applications. In applications where the environment is unknown a-priori, or only a known, it important that model can handle space efficiently. Path planning, exploration, and reconstruction all fall into this category. paper we present extension to OctoMap which call UFOMap. UFOMap uses explicit representation three states in map, i.e., occupied, free, unknown. This gives, surprisingly, more memory efficient representation. Furthermore,...

Maps play a key role in rapidly developing area of autonomous driving. We survey the literature for different map representations and find that while world is three-dimensional, it common to rely on 2D order meet real-time constraints. believe high levels situation awareness require 3D representation as well inclusion semantic information. demonstrate our recently presented hierarchical grid mapping framework UFOMap meets Furthermore, we show how can be used efficiently support more complex...