Online Informative Path Planning for Active Information Gathering of a 3D Surface
Hai Zhu Jen Jen Chung Nicholas R.J. Lawrance Roland Siegwart Javier Alonso-Mora Hai Zhu Jen Jen Chung Nicholas R.J. Lawrance Roland Siegwart Javier Alonso-Mora
This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface inspection focus on planning a path offline that can provide full coverage of the surface, which inherently assumes the surface information is uniformly distributed hence ignoring potential spatial correlations of the in...