Related papers: Partial Field Coverage Based on Two Path Planning …
A new approach to the static route planning problem, based on a multi-staging concept and a \emph{scope} notion, is presented. The main goal (besides implied efficiency of planning) of our approach is to address---with a solid theoretical…
In this paper, we propose a method to replan coverage paths for a robot operating in an environment with initially unknown static obstacles. Existing coverage approaches reduce coverage time by covering along the minimum number of coverage…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…
This paper proposes a state-machine model for a multi-modal, multi-robot environmental sensing algorithm. This multi-modal algorithm integrates two different exploration algorithms: (1) coverage path planning using variable formations and…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
Multi-view Synthetic Aperture Radar (SAR) imaging can effectively enhance the performance of tasks such as automatic target recognition and image information fusion. Unmanned aerial vehicles (UAVs) have the advantages of flexible deployment…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
This paper introduces a comprehensive planning and navigation framework that address these limitations by integrating semantic mapping, adaptive coverage planning, dynamic obstacle avoidance and precise trajectory tracking. Our framework…
Parking a vehicle in tight spaces is a challenging task to perform due to the scarcity of feasible paths that are also collision-free. This paper presents a strategy to tackle this kind of maneuver with a modified Hybrid-A* path-planning…
In this paper, we investigate the problem of decomposing 2D environments for robot coverage planning. Coverage path planning (CPP) involves computing a cost-minimizing path for a robot equipped with a coverage or sensing tool so that the…
A novel approach for creating tool paths for continuous carbon fiber-reinforced thermoplastic 3D printing is introduced. The aim is to enable load-bearing connections while avoiding non-manufacturable crossings of paths by generating layer…
The compactness of routes in distribution plans is a criterion that has not been sufficiently explored in the literature related to logistics distribution but has shown to have a significant impact on the practical implementation of routing…
This paper presents a new method to generate tool paths for machining freeform surfaces represented either as parametric surfaces or as triangular meshes. This method allows for the optimal tradeoff between the preferred feed direction…
In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…
We present a method for path optimization for ground vehicles in off-road environments at high speeds. This path optimization considers the kinematic constraints of the vehicle. By thinking in the actuator space we can represent these…
We consider a cooperative vehicle routing problem for surveillance and reconnaissance missions with communication constraints between the vehicles. We propose a framework which involves a ground vehicle and an aerial vehicle; the vehicles…
A novel coupled path planning and energy management problem for a hybrid unmanned air vehicle is considered, where the hybrid vehicle is powered by a dual gas/electric system. Such an aerial robot is envisioned for use in an urban setting…
This paper proposes a local path planning method with a reachable set for Automated vertical Parking Systems (APS). First, given a parking lot layout with a goal position, we define an intermediate pose for the APS to accomplish reverse…
Coverage path planning is a major application for mobile robots, which requires robots to move along a planned path to cover the entire map. For large-scale tasks, coverage path planning benefits greatly from multiple robots. In this paper,…