Related papers: Optimal In-field Routing for Full and Partial Fiel…
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…
In this paper, we tackle the problem of planning an optimal coverage path for a robot operating indoors. Many existing approaches attempt to discourage turns in the path by covering the environment along the least number of coverage lines,…
The use of an efficient coverage planning method is key for autonomous navigation in agricultural environments, where a robot must cover large areas of crops. This paper generally reviews the current state of the art of coverage path…
This paper presents a path planning method for partial field coverage. Therefore, a specific path planning pattern is proposed. The notion is that lighter machinery with smaller storage tanks can alleviate soil compaction because of a…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
A method for harvest planning based on the coupling of crop assignment with vehicle routing is presented. Given a setting with multiple fields, a path network connecting these, multiple depots at which a number of harvesters are initially…
Within the context of in-field path planning this paper discusses freeform path fitting for the minimisation of the number of transitions between headland path and interior lanes within agricultural fields. This topic is motivated by two…
The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…
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…
The shortage of workforce and increasing cost of maintenance has forced many farm industrialists to shift towards automated and mechanized approaches. The key component for autonomous systems is the path planning techniques used. Coverage…
This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…
This paper addresses the following task: given a set of patches or areas of varying sizes that are meant to be serviced within a bounding contour calculate a minimal length path plan for an unmanned aerial vehicle (UAV) such that the path…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
Robot Coverage Path planning (i.e., provide full coverage of a given domain by one or multiple robots) is a classical problem in the field of robotics and motion planning. The goal is to provide nearly full coverage while also minimize…
Conventional linear crop layouts, optimised for tractors, hinder robotic navigation with tight turns, long travel distances, and perceptual aliasing. We propose a robot-centric square spiral layout with a central tramline, enabling simpler…
In this paper we tackle the problem of persistently covering a complex non-convex environment with a team of robots. We consider scenarios where the coverage quality of the environment deteriorates with time, requiring to constantly revisit…
Maneuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver. Unless the vehicle is accurately steered, parts of the vehicle's bodies may exceed its assigned drive lane, resulting in an…
Autonomous agricultural vehicles (AAVs), including field robots and autonomous tractors, are becoming essential in modern farming by improving efficiency and reducing labor costs. A critical task in AAV operations is headland turning…
Unmanned aerial vehicles (UAVs) are increasingly utilized in global search and rescue efforts, enhancing operational efficiency. In these missions, a coordinated swarm of UAVs is deployed to efficiently cover expansive areas by capturing…
There is a strong demand for covering a large area autonomously by multiple UAVs (Unmanned Aerial Vehicles) supported by a ground vehicle. Limited by UAVs' battery life and communication distance, complete coverage of large areas typically…