Related papers: Revisiting Boustrophedon Coverage Path Planning as…
The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
Coverage Path Planning (CPP) is vital in precision agriculture to improve efficiency and resource utilization. In irregular and dispersed plantations, traditional grid-based CPP often causes redundant coverage over non-vegetated areas,…
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…
Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations. As a result, unmanned aerial systems traffic management is needed to ensure the safety and goal satisfaction of potentially…
3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation efficiency, and path quality in large and complex scenes. To…
In the area of multi-drone systems, navigating through dynamic environments from start to goal while providing collision-free trajectory and efficient path planning is a significant challenge. To solve this problem, we propose a novel…
Autonomous navigation for large Unmanned Aerial Vehicles (UAVs) is fairly straight-forward, as expensive sensors and monitoring devices can be employed. In contrast, obstacle avoidance remains a challenging task for Micro Aerial Vehicles…
Autonomous underwater vehicles (AUVs) are robotic platforms that are commonly used to map the sea floor, for example for benthic surveys or for naval mine countermeasures (MCM) operations. AUVs create an acoustic image of the survey area,…
Package delivery via the UAVs is a promising transport mode to provide efficient and green logistic services, especially in urban areas or complicated topography. However, the energy storage limit of the UAV makes it difficult to perform…
This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…
The automation of data collection via mobile robots holds promise for increasing the efficacy of environmental investigations, but requires the system to autonomously determine how to sample the environment while avoiding obstacles.…
Reliable navigation in disaster-response and other unstructured indoor settings requires robots not only to avoid obstacles but also to recognise when those obstacles can be pushed aside. We present an adaptive, LiDAR and odometry-based…
In this article, we consider a multi-agent path planning problem in a stochastic environment. The environment, which can be an urban road network, is represented by a graph where the travel time for selected road segments (impeded edges) is…
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path…
This paper studies an optimal autonomous underwater vehicule (AUV) path planning method for both reducing average delay before pollutants detection in underwater mining, oil or gas fields and reducing AUV occupancy time. The proposed…
Path planning is important for the autonomy of Unmanned Aerial Vehicle (UAV), especially for scheduling UAV delivery. However, the operating environment of UAVs is usually uncertain and dynamic. Without proper planning, collisions may…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
Autonomous exploration is one of the important parts to achieve the autonomous operation of Unmanned Aerial Vehicles (UAVs). To improve the efficiency of the exploration process, a fast and autonomous exploration planner (FAEP) is proposed…
This paper presents a communication and energy-aware multi-UAV Coverage Path Planning (mCPP) method for scenarios requiring continuous inter-UAV communication, such as cooperative search and rescue and surveillance missions. Unlike existing…