Learning-based Path Planning for Autonomous Exploration of Subterranean Environments
Russell Reinhart,Tung Dang,Emily Hand,Christos Papachristos,Kostas Alexis,Russell Reinhart,Tung Dang,Emily Hand,Christos Papachristos,Kostas Alexis
In this work we present a new methodology on learning-based path planning for autonomous exploration of subterranean environments using aerial robots. Utilizing a recently proposed graph-based path planner as a "training expert" and following an approach relying on the concepts of imitation learning, we derive a trained policy capable of guiding the robot to autonomously explore underground mine d...
