Related papers: Partial Field Coverage Based on Two Path Planning …
Efficient path planning for autonomous mobile robots is a critical problem across numerous domains, where optimizing both time and energy consumption is paramount. This paper introduces a novel methodology that considers the dynamic…
Informative path planning (IPP) is used to design paths for robotic sensor platforms to extract the best/maximum possible information about a quantity of interest while operating under a set of constraints, such as the dynamic feasibility…
We present a multi-UAV Coverage Path Planning (CPP) framework for the inspection of large-scale, complex 3D structures. In the proposed sampling-based coverage path planning method, we formulate the multi-UAV inspection applications as a…
Path planning is critical for autonomous vehicles (AVs) to determine the optimal route while considering constraints and objectives. The potential field (PF) approach has become prevalent in path planning due to its simple structure and…
Robotic bin packing is very challenging, especially when considering practical needs such as object variety and packing compactness. This paper presents SDF-Pack, a new approach based on signed distance field (SDF) to model the geometric…
Ride-pooling services, such as UberPool and Lyft Shared Saver, enable a single vehicle to serve multiple customers within one shared trip. Efficient path-planning algorithms are crucial for improving the performance of such systems. For…
Agricultural environments present high proportions of spatially dense navigation bottlenecks for long-term navigation and operational planning of agricultural mobile robots. The existing agent-centric multi-robot path planning (MRPP)…
The land used for grazing cattle takes up about one-third of the land in the United States. These areas can be highly rugged. Yet, they need to be maintained to prevent weeds from taking over the nutritious grassland. This can be a daunting…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
This paper deals with the problem of informative path planning for a UAV deployed for precision agriculture applications. First, we observe that the ``fear of missing out'' data lead to uniform, conservative scanning policies over the whole…
Coverage path planning is a well-studied problem in robotics in which a robot must plan a path that passes through every point in a given area repeatedly, usually with a uniform frequency. To address the scenario in which some points need…
Electric trucks are increasingly deployed to reduce the trucking sector's carbon footprint, but their limited range and charging needs create operational challenges on mid- to long-haul routes. Truck platooning can mitigate range anxiety…
Headland maneuvering is a crucial aspect of unmanned field operations for autonomous agricultural vehicles (AAVs). While motion planning for headland turning in open fields has been extensively studied and integrated into commercial…
This paper introduces a novel automatic coverage path planning algorithm for bathymetry surveying with unmanned surface vehicles. The detection range of the mapping sensor employed - a multibeam echo sounder - is heavily influenced by local…
Cellular networks are promising to support effective wireless communications for unmanned aerial vehicles (UAVs), which will help to enable various long-range UAV applications. However, these networks are optimized for terrestrial users,…
We present improvements to a recently developed method for trajectory planning for autonomous surface vehicles (ASVs) in terms of run time. The original method combines two types of planners: An A* implementation that quickly finds the…
Search-based planning with motion primitives is a powerful motion planning technique that can provide dynamic feasibility, optimality, and real-time computation times on size, weight, and power-constrained platforms in unstructured…
Monitoring crop fields to map features like weeds can be efficiently performed with unmanned aerial vehicles (UAVs) that can cover large areas in a short time due to their privileged perspective and motion speed. However, the need for…
In Japan, inspection of irrigation water canals has been mostly conducted manually. However, the huge demand for more regular inspections as infrastructure ages, coupled with the limited time window available for inspection, has rendered…
For large-scale tasks, coverage path planning (CPP) can benefit greatly from multiple robots. In this paper, we present an efficient algorithm MSTC* for multi-robot coverage path planning (mCPP) based on spiral spanning tree coverage…