Learning-based Path Planning for Autonomous Exploration of Subterranean Environments

Russell Reinhart
Russell Reinhart
Tung Dang
Tung Dang
Emily M. Hand
Emily M. Hand

ICRA, pp. 1215-1221, 2020.

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Abstract:

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 o...More

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