SEER: Safe Efficient Exploration for Aerial Robots using Learning to Predict Information Gain
Yuezhan Tao,Yuwei Wu,Beiming Li,Fernando Cladera,Alex Zhou,Dinesh Thakur,Vijay Kumar,Yuezhan Tao,Yuwei Wu,Beiming Li,Fernando Cladera,Alex Zhou,Dinesh Thakur,Vijay Kumar
We address the problem of efficient 3-D exploration in indoor environments for micro aerial vehicles with limited sensing capabilities and payload/power constraints. We develop an indoor exploration framework that uses learning to predict the occupancy of unseen areas, extracts semantic features, samples viewpoints to predict information gains for different exploration goals, and plans informative...
