Collaborative exploration of unstructured environment


This project focuses on three major developments:

i)                   To develop 3D SLAM module targeted for a UAV,

ii)                  To develop 3D collaborative SLAM (CSLAM) for multiple UGVs and UAVs,

iii)                 To develop 3D autonomous exploration algorithm for a UGV and UAV.



The single-robot 3D SLAM has been developed in such a way that a UAV is able to propagate through a single global feature map based on the information collected from a 3D depth sensor, an IMU and a stereo camera. In CSLAM for multiple UGV, the information of all sensors (depth sensor, IMU and stereo camera) are fused at each time step by the centralised fusion algorithm and the overall results are sent back to each robot. As part of the project package, a novel autonomous 3D exploration algorithm has been developed for a UGV that guides the robotic system with a tremendous reduction in computational effort.           

                          Overview of single-robot 3D SLAM                                      Overview of  3D CSLAM


                                    3D mapping generated using UGV with autonomous 3D exploration

Video Demonstration


  1. Yue. Yuefeng., Wang, Danwei., Senarathne, P.G.C.N., Moratuwage, M.D.P. " A Hybrid Probabilistic and Point Set Registration Approach for Fusion of 3D Occupancy Grid Maps." 2016 IEEE International Conference on Systems, Man and Cybernetics (SMC 2016).
  2. Senarathne, P.G.C.N, Wang Danwei. "Towards autonomous 3D exploration using surface frontiers." 2016 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR 2016)

Principal Investigators

Prof. Wang Danwei (NTU)

Telephone: 6790 5376
Office: S2-B2c-96
Mr. Paul Tan (STE)

Telephone: 6660 1052
Office: S1-B4a-03