A Collaborative Aerial-Ground Robotic System for Fast Exploration

  • Luqi WangEmail author
  • Daqian Cheng
  • Fei Gao
  • Fengyu Cai
  • Jixin Guo
  • Mengxiang Lin
  • Shaojie Shen
Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 11)


Exploration of unknown environments using autonomous robots has been considered a fundamental problem in robotics applications such as search and rescue [10], industrial inspection and 3D modelling.

Supplementary material

Supplementary material 1 (mp4 37738 KB)


  1. 1.
    Butzkey, J., Dornbushy, A., Likhachevy, M.: 3-D exploration with an air-ground robotic system. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3241–3248 (2015)Google Scholar
  2. 2.
    Cieslewski, T., Kaufmann, E., Scaramuzza, D.: Rapid exploration with multi-rotors: a frontier selection method for high speed flight. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2135–2142 (2017)Google Scholar
  3. 3.
    Connolly, C.: On the application of harmonic functions to robotics. J. Robot. Syst. 10, 931–946 (1993)CrossRefGoogle Scholar
  4. 4.
    Delmerico, J., Mueggler, E., Nitsch, J., Scaramuzza, D.: Active autonomous aerial exploration for ground robot path planning. IEEE Robot. Autom. Lett. 2(2), 664–671 (2017)CrossRefGoogle Scholar
  5. 5.
    Silva, E.P., Engel, P.M., Trevisan, M., Idiart, M.A.P.: Exploration method using harmonic functions. Robot. Auton. Syst. 40(1), 25–42 (2002)CrossRefGoogle Scholar
  6. 6.
    Gao, F., Wu, W., Lin, Y., Shen, S.: Online safe trajectory generation for quadrotors using fast marching method and Bernstein basis polynomial. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (2018)Google Scholar
  7. 7.
    Likhachev, M., Ferguson, D.: Planning long dynamically feasible maneuvers for autonomous vehicles. Int. J. Robot. Res. 28(8), 933–945 (2009)CrossRefGoogle Scholar
  8. 8.
    Mellinger, D., Kumar, V.: Minimum snap trajectory generation and control for quadrotors. In: International Conference on Robotics and Automation (ICRA), pp. 2520–2525. IEEE (2011)Google Scholar
  9. 9.
    Qin, T., Li, P., Shen, S.: VINS-Mono: a robust and versatile monocular visual-inertial state estimator. arXiv preprint arXiv:1708.03852 (2017)
  10. 10.
    Shen, C., Zhang, Y., Li, Z., Gao, F., Shen, S.: Collaborative air-ground target searching in complex environments. In: IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), pp. 230–237 (2017)Google Scholar
  11. 11.
    Verriest, E.I., Lewis, F.L.: On the linear quadratic minimum-time problem. IEEE Trans. Autom. Control 36(7), 859–863 (1991)MathSciNetCrossRefGoogle Scholar
  12. 12.
    Yamauchi, B.: A frontier-based approach for autonomous exploration. In: Proceedings of 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 1997, pp. 146–151 (1997)Google Scholar
  13. 13.
    Zhang, J., Singh, S.: LOAM: lidar odometry and mapping in real-time. In: Robotics: Science and Systems Conference (2014)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Luqi Wang
    • 1
    Email author
  • Daqian Cheng
    • 2
  • Fei Gao
    • 1
  • Fengyu Cai
    • 1
  • Jixin Guo
    • 1
  • Mengxiang Lin
    • 2
  • Shaojie Shen
    • 1
  1. 1.The Hong Kong University of Science and TechnologyKowloonHong Kong
  2. 2.Beihang UniversityBeijingChina

Personalised recommendations