Semantics-aware Exploration and Inspection Path Planning
Mihir Dharmadhikari,Kostas Alexis,Mihir Dharmadhikari,Kostas Alexis
This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities of particular interest, the proposed method offers volumetric exploration combined with two new planning behaviors that together ensure that a complete mesh model is reconstruc...
