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Fast Frontier-based Information-driven Autonomous Exploration with an MAV

11 February 2020

Anna Dai

Sotiris Papatheodorou

Nils Funk

Dimos Tzoumanikas

Stefan Leutenegger

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Papers citing "Fast Frontier-based Information-driven Autonomous Exploration with an MAV"

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Title
Peering into the Unknown: Active View Selection with Neural Uncertainty Maps for 3D Reconstruction Zhengquan Zhang Feng Xu Mengmi Zhang 3DGS 25 0 0 17 Jun 2025
MEF-Explore: Communication-Constrained Multi-Robot Entropy-Field-Based Exploration Khattiya Pongsirijinda Zhiqiang Cao Billy Pik Lik Lau Ran Liu Chau Yuen U-Xuan Tan 63 0 0 29 May 2025
Histo-Planner: A Real-time Local Planner for MAVs Teleoperation based on Histogram of Obstacle Distribution Ze Wang Zhenyu Gao Jingang Qu Pascal Morin 24 0 0 21 May 2025
FindAnything: Open-Vocabulary and Object-Centric Mapping for Robot Exploration in Any Environment Sebastián Barbas Laina Simon Boche Sotiris Papatheodorou Simon Schaefer Jaehyung Jung Stefan Leutenegger 115 0 0 11 Apr 2025
DART: Dual-level Autonomous Robotic Topology for Efficient Exploration in Unknown Environments Qiming Wang Yulong Gao Yang Wang Xiongwei Zhao Yijiao Sun Xiangyan Kong 125 0 0 17 Mar 2025
A Hierarchical Region-Based Approach for Efficient Multi-Robot Exploration Di Meng Tianhao Zhao Chaoyu Xue Jun Wu Qiuguo Zhu 62 0 0 17 Mar 2025
Action-Aware Pro-Active Safe Exploration for Mobile Robot Mapping Aykut Isleyen René van de Molengraft Ömür Arslan 68 0 0 13 Mar 2025
FSMP: A Frontier-Sampling-Mixed Planner for Fast Autonomous Exploration of Complex and Large 3-D Environments Shiyong Zhang Xuebo Zhang Qianli Dong Ziyu Wang Haobo Xi Jing Yuan 122 2 0 28 Feb 2025
FrontierNet: Learning Visual Cues to Explore Boyang Sun Hanzhi Chen Stefan Leutenegger Cesar Cadena Marc Pollefeys Hermann Blum 156 1 0 08 Jan 2025
RT-GuIDE: Real-Time Gaussian splatting for Information-Driven Exploration Yuezhan Tao Dexter Ong Varun Murali Igor Spasojevic Pratik Chaudhari Vijay Kumar 3DGS 125 7 0 26 Sep 2024
Efficient Submap-based Autonomous MAV Exploration using Visual-Inertial SLAM Configurable for LiDARs or Depth Cameras Sotiris Papatheodorou Simon Boche Sebastián Barbas Laina Stefan Leutenegger 89 2 0 25 Sep 2024
Autonomous Exploration and Semantic Updating of Large-Scale Indoor Environments with Mobile Robots Sai Haneesh Allu Itay Kadosh Tyler Summers Yu Xiang 108 0 0 23 Sep 2024
HEROS: Hierarchical Exploration with Online Subregion Updating for 3D Environment Coverage Shijun Long Ying Li Chenming Wu Bin Xu Wei Fan 108 0 0 16 Jul 2024
FALCON: Fast Autonomous Aerial Exploration using Coverage Path Guidance Yichen Zhang Xinyi Chen Chen Feng Boyu Zhou Shaojie Shen 114 9 0 30 Jun 2024
GATSBI: An Online GTSP-Based Algorithm for Targeted Surface Bridge Inspection and Defect Detection Harnaik Dhami Charith Reddy V. Sharma Troi Williams Pratap Tokekar 69 1 0 24 Jun 2024
OTO Planner: An Efficient Only Travelling Once Exploration Planner for Complex and Unknown Environments Bo Zhou Chuanzhao Lu Yan Pan Fu Chen 56 1 0 11 Jun 2024
Neural Visibility Field for Uncertainty-Driven Active Mapping Shangjie Xue Jesse Dill Pranay Mathur F. Dellaert Panagiotis Tsiotras Danfei Xu 70 7 0 11 Jun 2024
RB5 Low-Cost Explorer: Implementing Autonomous Long-Term Exploration on Low-Cost Robotic Hardware Adam Seewald Marvin Chancán Connor M. McCann Seonghoon Noh Omeed Fallahi Hector Castillo Ian Abraham A. Dollar 108 0 0 14 Feb 2024
Aerial Field Robotics Mihir Kulkarni Brady G. Moon Kostas Alexis Sebastian A. Scherer 106 2 0 19 Jan 2024
Gradient-based Local Next-best-view Planning for Improved Perception of Targeted Plant Nodes A. K. Burusa Eldert J. van Henten Gert Kootstra 37 2 0 28 Nov 2023
Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy Ivan D. Changoluisa Caiza Ana Milas Marco A. Montes Grova F. J. Pérez-Grau Tamara Petrovic 22 0 0 21 Nov 2023
Fast LiDAR Informed Visual Search in Unseen Indoor Environments Ryan Gupta Kyle Morgenstein Steve Ortega Luis Sentis 127 2 0 25 Sep 2023
Active perception network for non-myopic online exploration and visual surface coverage David Vutetakis Jing Xiao 44 0 0 21 Sep 2023
Active Neural Mapping Zike Yan Haoxiang Yang H. Zha 102 23 0 30 Aug 2023
Grid Cell-Inspired Fragmentation and Recall for Efficient Map Building Jaedong Hwang Zhang-Wei Hong Eric Chen Akhilan Boopathy Pulkit Agrawal Ila Fiete 51 2 0 11 Jul 2023
CQLite: Communication-Efficient Multi-Robot Exploration Using Coverage-biased Distributed Q-Learning Ehsan Latif Ramviyas Parasuraman 128 9 0 02 Jul 2023
An Enhanced Sampling-Based Method With Modified Next-Best View Strategy For 2D Autonomous Robot Exploration Dong Huu Quoc Tran Hoang-Anh Phan Hieu Dang Van Tang Van Duong Tu Bui Van Nguyen Thi Thanh 15 3 0 08 May 2023
Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV Sotiris Papatheodorou Nils Funk Dimos Tzoumanikas Christopher L. Choi Binbin Xu Stefan Leutenegger 90 22 0 28 Feb 2023
A Heuristic Autonomous Exploration Method Based on Environmental Information Gain During Quadrotor Flight Tong Zhang Jiajie Yu Jiaqi Li Minghui Pang 57 2 0 21 Feb 2023
Towards Energy Efficient Autonomous Exploration of Mars Lava Tube with a Martian Coaxial Quadrotor Akash Patel Stefan Karlsson B. Lindqvist Christoforos Kanellakis Ali Akbar Agha Mohammadi G. Nikolakopoulos 56 10 0 13 Nov 2022
Multi-Armed Bandits with Self-Information Rewards Nir Weinberger M. Yemini 17 4 0 06 Sep 2022
SC-Explorer: Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning L. Schmid Mansoor Nasir Cheema Victor Reijgwart Roland Siegwart Federico Tombari Cesar Cadena 64 9 0 17 Aug 2022
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers Julio A. Placed Jared Strader Henry Carrillo Nikolay Atanasov Vadim Indelman Luca Carlone J. A. Castellanos 130 190 0 01 Jul 2022
REF: A Rapid Exploration Framework for Deploying Autonomous MAVs in Unknown Environments Akash Patel B. Lindqvist Christoforos Kanellakis Ali-akbar Agha-mohammadi G. Nikolakopoulos 51 4 0 31 May 2022
A Review on Viewpoints and Path-planning for UAV-based 3D Reconstruction M. Maboudi M. Homaei Soohwan Song S. Malihi M. Saadatseresht M. Gerke 84 67 0 07 May 2022
KC-TSS: An Algorithm for Heterogeneous Robot Teams Performing Resilient Target Search Minkyu Kim Ryan Gupta Luis Sentis 32 1 0 02 Mar 2022
Fast and Compute-efficient Sampling-based Local Exploration Planning via Distribution Learning L. Schmid Chao Ni Yuliang Zhong Roland Siegwart Olov Andersson OffRL 58 17 0 28 Feb 2022
FAEP: Fast Autonomous Exploration Planner for UAV Equipped with Limited FOV Sensor Yinghao Zhao Lichao Yan Yu Chen Hong Xie Bo Xu 23 4 0 25 Feb 2022
Symmetry-aware Neural Architecture for Embodied Visual Navigation Shuang Liu Takayuki Okatani 56 1 0 17 Dec 2021
A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration Ana Batinovic Antun Ivanovic T. Petrović Stjepan Bogdan 33 32 0 20 Sep 2021
Information-Theoretic Based Target Search with Multiple Agents Minkyu Kim Ryan Gupta Luis Sentis 32 3 0 27 Jul 2021
Scalable and Elastic LiDAR Reconstruction in Complex Environments Through Spatial Analysis Yiduo Wang Milad Ramezani Matías Mattamala Maurice F. Fallon 73 2 0 29 Jun 2021
Active Visual SLAM with Independently Rotating Camera Elia Bonetto Pascal Goldschmid Michael J. Black Aamir Ahmad 49 7 0 19 May 2021
iRotate: Active Visual SLAM for Omnidirectional Robots Elia Bonetto Pascal Goldschmid Michael Pabst Michael J. Black Aamir Ahmad 71 23 0 22 Mar 2021
Peacock Exploration: A Lightweight Exploration for UAV using Control-Efficient Trajectory E. Lee Duckyu Choi Hyun Myung 39 4 0 29 Dec 2020
Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots K. Goel Wennie Tabib Nathan Michael 60 15 0 19 Dec 2020
GATSBI: An Online GTSP-Based Algorithm for Targeted Surface Bridge Inspection Harnaik Dhami Kevin Yu Kartik Madhira Vineeth Vajipey Pratap Tokekar 56 5 0 09 Dec 2020
A Multi-Resolution Frontier-Based Planner for Autonomous 3D Exploration Ana Batinovic T. Petrović Antun Ivanovic Frano Petrić Stjepan Bogdan 46 65 0 04 Nov 2020
A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift L. Schmid Victor Reijgwart Lionel Ott Juan I. Nieto Roland Siegwart Cesar Cadena 171 33 0 19 Oct 2020
Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks Yiduo Wang Nils Funk Milad Ramezani Sotiris Papatheodorou Marija Popović Marco Camurri Stefan Leutenegger Maurice F. Fallon 3DV 67 17 0 19 Oct 2020