2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017
DOI: 10.1109/iros.2017.8202317
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Multiresolution mapping and informative path planning for UAV-based terrain monitoring

Abstract: Abstract-Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. However, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we introduce a new multiresolution mapping approach for informative path planning in terrain monitoring using UAVs. Our strategy exploits the spatial correlation encoded in a Gaussian Process model as a prior for Bayesian data fusion with probabilistic sensors. This allo… Show more

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Cited by 58 publications
(68 citation statements)
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References 23 publications
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“…The former performs online replanning while the latter executes an a priori path. Myopic methods [11] differ from non-myopic ones [3] in terms of their planning look-ahead. The former navigates greedily by selecting next-best views, while the latter plans with a finite lookahead to escape local minima.…”
Section: Related Workmentioning
confidence: 99%
See 4 more Smart Citations
“…The former performs online replanning while the latter executes an a priori path. Myopic methods [11] differ from non-myopic ones [3] in terms of their planning look-ahead. The former navigates greedily by selecting next-best views, while the latter plans with a finite lookahead to escape local minima.…”
Section: Related Workmentioning
confidence: 99%
“…The former navigates greedily by selecting next-best views, while the latter plans with a finite lookahead to escape local minima. Finally, whereas discrete strategies [10,12] perform combinatorial optimization on pre-defined grids, continuous solvers [3,13,14] operate directly in the robot workspace to achieve better scalability.…”
Section: Related Workmentioning
confidence: 99%
See 3 more Smart Citations