Related papers: Multiobjective Coverage Path Planning: Enabling Au…
This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
With the proliferation of small aerial vehicles, acquiring close up aerial imagery for high quality reconstruction of complex scenes is gaining importance. We present an adaptive view planning method to collect such images in an automated…
An algorithm for 3D terrain-following area coverage path planning is presented. Multiple adjacent paths are generated that are (i) locally apart from each other by a distance equal to the working width of a machinery, while (ii)…
This report overviews a set of recent contributions in the field of path planning that were developed to enable the realization of the autonomous aerial robotic worker for inspection operations. The specific algorithmic contributions…
This article addresses the problem of Cooperative Coverage Path Planning (C-CPP) for the inspection of complex infrastructures (offline 3D reconstruction) by utilizing multiple Unmanned Autonomous Vehicles (UAVs). The proposed scheme, based…
We propose a generic multi-robot planning mechanism that combines an optimal task planner and an optimal path planner to provide a scalable solution for complex multi-robot planning problems. The Integrated planner, through the interaction…
The optical scanning gauges mounted on the robots are commonly used in quality inspection, such as verifying the dimensional specification of sheet structures. Coverage path planning (CPP) significantly influences the accuracy and…
Coverage path planning (CPP) is the task of computing an optimal path within a region to completely scan or survey an area of interest using one or multiple mobile robots. Robots equipped with sensors and cameras can collect vast amounts of…
Reasons for mapping an unknown environment with autonomous robots are wide-ranging, but in practice, they are often overlooked when developing planning strategies. Rapid information gathering and comprehensive structural assessment of…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
Indoor infrastructure inspection, such as tunnels and industrial facilities, requires systematic surface coverage to ensure that all inspection targets are properly observed. Unmanned Aerial Vehicles (UAVs) offer an alternative to manual…
Multi-robot Coverage Path Planning (MCPP) addresses the problem of computing paths for multiple robots to effectively cover a large area of interest. Conventional approaches to MCPP typically assume that robots move at fixed velocities,…
This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…
Multi-robot path planning is difficult due to the combinatorial explosion of the search space with every new robot added. Complete search of the combined state-space soon becomes intractable. In this paper we present a novel form of…
This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…
Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous…
Autonomous robots are often employed for data collection due to their efficiency and low labour costs. A key task in robotic data acquisition is planning paths through an initially unknown environment to collect observations given…
This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile robot equipped with a ranging sensor with…
The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. This paper presents trajectory planning for three-dimensional autonomous multi-UAV…