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- W2154444440 abstract "We present a synthesis of techniques for rotorcraft UAV navigation through unknown environments which may contain obstacles. D* Lite and probabilistic roadmaps are combined for path planning, together with stereo vision for obstacle detection and dynamic path updating. A 3D occupancy map is used to represent the environment, and is updated online using stereo data. The target application is autonomous helicopter-based structure inspections, which require the UAV to fly safely close to the structures it is inspecting. Results are presented from simulation and with real flight hardware mounted onboard a cable array robot, demonstrating successful navigation through unknown environments containing obstacles." @default.
- W2154444440 created "2016-06-24" @default.
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- W2154444440 date "2008-09-01" @default.
- W2154444440 modified "2023-10-10" @default.
- W2154444440 title "3D path planning and stereo-based obstacle avoidance for rotorcraft UAVs" @default.
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- W2154444440 doi "https://doi.org/10.1109/iros.2008.4650775" @default.
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