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Coverage path planning (CPP) is the problem of finding a path that covers the entire free space of a confined area, with applications ranging from robotic lawn mowing to search-and-rescue. When the environment is unknown, the path needs to…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
Coverage path planning (CPP) is a critical problem in robotics, where the goal is to find an efficient path that covers every point in an area of interest. This work addresses the power-constrained CPP problem with recharge for…
As mobile robots find increasing use in outdoor applications, designing energy-efficient robot navigation algorithms is gaining importance. There are two primary approaches to energy efficient navigation: Offline approaches rely on a…
Autonomous robotic exploration in remote and extreme environments allows scientists to model complex transport phenomena and collective behaviors described by continuously deforming flow fields. Although these environments are naturally…
We study real-time routing policies in smart transit systems, where the platform has a combination of cars and high-capacity vehicles (e.g., buses or shuttles) and seeks to serve a set of incoming trip requests. The platform can use its…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring unknown environments is that the robot has to plan with the…
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…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
Continuous exploration without interruption is important in scenarios such as search and rescue and precision agriculture, where consistent presence is needed to detect events over large areas. Ergodic search already derives continuous…
We consider the motion-planning problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time…
The main aim of this paper is to solve a path planning problem for an autonomous mobile robot in static and dynamic environments. The problem is solved by determining the collision-free path that satisfies the chosen criteria for shortest…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…
Coverage Path Planning involves visiting every unoccupied state in an environment with obstacles. In this paper, we explore this problem in environments which are initially unknown to the agent, for purposes of simulating the task of a…
In this paper, we study a dynamic pickup and delivery problem with docking constraints. There is a homogeneous fleet of vehicles to serve pickup-and-delivery requests at given locations. The vehicles can be loaded up to their capacity,…
Planning for multi-robot coverage seeks to determine collision-free paths for a fleet of robots, enabling them to collectively observe points of interest in an environment. Persistent coverage is a variant of traditional coverage where…
Depth first search is a natural algorithmic technique for constructing a closed route that visits all vertices of a graph. The length of such route equals, in an edge-weighted tree, twice the total weight of all edges of the tree and this…