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In this paper, we study path planning algorithms of resource constrained mobile agents in unknown cluttered environments, which include but are not limited to various terrestrial missions e.g., search and rescue missions by drones in…
Mobile robots hold great promise in reducing the need for humans to perform jobs such as vacuuming, seeding,harvesting, painting, search and rescue, and inspection. In practice, these tasks must often be done without an exact map of the…
We consider the problem of walking in an unknown street, for a robot that has a minimal sensing capability. The robot is equipped with a sensor that only detects the discontinuities in depth information (gaps) and can locate the target…
With the development of robotics, there are growing needs for real time motion planning. However, due to obstacles in the environment, the planning problem is highly non-convex, which makes it difficult to achieve real time computation…
Coverage Path Planning (CPP) is a fundamental capability for agricultural robots; however, existing solutions often overlook energy constraints, resulting in incomplete operations in large-scale or resource-limited environments. This paper…
Cyber Physical Systems (CPS) are becoming ubiquitous and affect the physical world, yet security is seldom at the forefront of their design. This is especially true of robotic control algorithms which seldom consider the effect of a cyber…
Obstacle avoidance path planning for uncrewed aerial vehicles (UAVs), or drones, is rarely addressed in most flight path planning schemes, despite obstacles being a realistic condition. Obstacle avoidance can also be energy-intensive,…
We study the problem of maximizing a monotone submodular function with viability constraints. This problem originates from computational biology, where we are given a phylogenetic tree over a set of species and a directed graph, the…
Path planning is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a…
Path planning is a crucial algorithmic approach for designing robot behaviors. Sampling-based approaches, like rapidly exploring random trees (RRTs) or probabilistic roadmaps, are prominent algorithmic solutions for path planning problems.…
Autonomous robot person-following (RPF) systems are crucial for personal assistance and security but suffer from target loss due to occlusions in dynamic, unknown environments. Current methods rely on pre-built maps and assume static…
Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…
This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks,…
Efficient coverage of unknown environments requires robots to adapt their paths in real time based on on-board sensor data. In this paper, we introduce CAP, a connectivity-aware hierarchical coverage path planning algorithm for efficient…
The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary information gain formulations. However, they are prone to local…
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…
The complete collection of sparse resources in large, unknown environments remains a challenging problem for autonomous robot swarms. Previous studies have shown that a substantial portion of total mission time is consumed during the final…
This paper addresses a fuel-constrained, autonomous vehicle path planning problem in the presence of multiple refueling stations. We are given a set of targets, a set of refueling stations, and a depot where $m$ vehicles are stationed. The…
Path planning in dynamic environments remains a core challenge in robotics, especially as autonomous systems are deployed in unpredictable spaces such as warehouses and public roads. While algorithms like Fast Marching Tree (FMT$^{*}$)…
Given two points s and t in the plane and a set of obstacles defined by closed curves, what is the minimum number of obstacles touched by a path connecting s and t? This is a fundamental and well-studied problem arising naturally in…