SplatPlanner: Efficient Autonomous Exploration via Permutohedral Frontier Filtering
Anthony Brunel Amine Bourki Cédric Demonceaux Olivier Strauss Anthony Brunel Amine Bourki Cédric Demonceaux Olivier Strauss
We address the problem of autonomous exploration of unknown environments using a Micro Aerial Vehicle (MAV) equipped with an active depth sensor. As such, the task consists in mapping the gradually discovered environment while planning the envisioned trajectories in real-time, using on-board computation only. To do so, we present SplatPlanner, an end-to-end autonomous planner that is based on a no...