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Path-Planning for Autonomous Robot Navigation in Construction Sites
The goal of this project is to implement an optimization-based path planner for different robots in order to perform autonomous navigation and obstacle avoidance in construction sites.
Keywords: Autonomous Robots, SLAM, Ground Robot, UAV, Exploration, Path Planning, Obstacle Avoidance, Optimization, Optimization-Based Planning, Construction Site
In the recent years, the use of robotic platforms has increased exponentially to a wide range of different settings and situations, such as mapping and inspection. In order to enable robots to navigate in complex, unknown and unstructured areas such as construction sites, they must be able to **move with guaranteed safety**, even when facing environments they do not have prior knowledge of. However, the **full autonomous navigation** still remains a big challenge.
The aim of this project is to develop an **optimization-based local planner** that performs trajectory-generation in a _continuous fashion_ for different platforms, such as Unmanned Aerial Vehicles (UAVs) and ground robots, for **navigation in construction sites**. The objective is to perform continuous trajectory replanning in order to make the robot **able to react to sudden changes of the navigation environment**. The goals are the following:
- Create an innovative re-planning strategy generalizable to different robotic platforms.
- Evaluation of the advantages of optimization-based planning with respect to existing strategies.
- Experiments of the framework with different robotic platforms in challenging environments.
In the recent years, the use of robotic platforms has increased exponentially to a wide range of different settings and situations, such as mapping and inspection. In order to enable robots to navigate in complex, unknown and unstructured areas such as construction sites, they must be able to **move with guaranteed safety**, even when facing environments they do not have prior knowledge of. However, the **full autonomous navigation** still remains a big challenge.
The aim of this project is to develop an **optimization-based local planner** that performs trajectory-generation in a _continuous fashion_ for different platforms, such as Unmanned Aerial Vehicles (UAVs) and ground robots, for **navigation in construction sites**. The objective is to perform continuous trajectory replanning in order to make the robot **able to react to sudden changes of the navigation environment**. The goals are the following:
- Create an innovative re-planning strategy generalizable to different robotic platforms. - Evaluation of the advantages of optimization-based planning with respect to existing strategies. - Experiments of the framework with different robotic platforms in challenging environments.
The work to be undertaken involves four main work packages (WP):
- **WP1**: Literature review and familiarization with our navigation framework.
- **WP2**: Design and implementation of an optimization-based planning strategy to perform robust obstacle avoidance and path planning.
- **WP3**: Evaluation of the new framework with respect to already existing planning strategies.
- **WP4**: Design and conduct experiments with multiple mobile platforms (UAV and/or ground robot) to evaluate the selected approach.
The work to be undertaken involves four main work packages (WP):
- **WP1**: Literature review and familiarization with our navigation framework. - **WP2**: Design and implementation of an optimization-based planning strategy to perform robust obstacle avoidance and path planning. - **WP3**: Evaluation of the new framework with respect to already existing planning strategies. - **WP4**: Design and conduct experiments with multiple mobile platforms (UAV and/or ground robot) to evaluate the selected approach.
- Strong self-motivation and curiosity for solving challenging robotic problems.
- Strong analytical skills and interest in optimization problems.
- Experience in C++ programming, mobile robotics, Linux and ROS is beneficial.
- Strong self-motivation and curiosity for solving challenging robotic problems. - Strong analytical skills and interest in optimization problems. - Experience in C++ programming, mobile robotics, Linux and ROS is beneficial.
Interested Students please send CV, Bachelor and Master transcripts to Luca Bartolomei (lbartolomei@ethz.ch).
Interested Students please send CV, Bachelor and Master transcripts to Luca Bartolomei (lbartolomei@ethz.ch).