Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Autonomous UAV Exploration of Dynamic Environments via Incremental
  Sampling and Probabilistic Roadmap   Autonomous exploration requires robots to generate informative trajectories
iteratively. Although sampling-based methods are highly efficient in unmanned
aerial vehicle exploration, many of these methods do not effectively utilize
the sampled information from the previous planning iterations, leading to
redundant computation and longer exploration time. Also, few have explicitly
shown their exploration ability in dynamic environments even though they can
run real-time. To overcome these limitations, we propose a novel dynamic
exploration planner (DEP) for exploring unknown environments using incremental
sampling and Probabilistic Roadmap (PRM). In our sampling strategy, nodes are
added incrementally and distributed evenly in the explored region, yielding the
best viewpoints. To further shortening exploration time and ensuring safety,
our planner optimizes paths locally and refine them based on the Euclidean
Signed Distance Function (ESDF) map. Meanwhile, as the multi-query planner, PRM
allows the proposed planner to quickly search alternative paths to avoid
dynamic obstacles for safe exploration. Simulation experiments show that our
method safely explores dynamic environments and outperforms the benchmark
planners in terms of exploration time, path length, and computational time.

28
The categories of this paper are: alg-geom
6
The categories of this paper are: astro-ph
33
The categories of this paper are: plasm-ph
36
The categories of this paper are: cmp-lg
20
The categories of this paper are: acc-phys
3
The categories of this paper are: physics
2
The categories of this paper are: math
9
The categories of this paper are: nlin
16
The categories of this paper are: stat
4
The categories of this paper are: cond-mat
27
The categories of this paper are: comp-gas
23
The categories of this paper are: solv-int
25
The categories of this paper are: patt-sol
11
The categories of this paper are: hep-lat
12
The categories of this paper are: nucl-th
10
The categories of this paper are: q-bio