Related papers: Miniature Robot Path Planning for Bridge Inspectio…
For massive large-scale tasks, a multi-robot system (MRS) can effectively improve efficiency by utilizing each robot's different capabilities, mobility, and functionality. In this paper, we focus on the multi-robot coverage path planning…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
Mobile robots often have limited battery life and need to recharge periodically. This paper presents an RRT- based path-planning algorithm that addresses battery power management. A path is generated continuously from the robot's current…
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 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,…
Within this paper, the problem of 3D structural inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The proposed algorithm handles varying spatial properties of the…
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…
Consider a region that requires to be protected from unauthorized penetrations. The border of the region, modeled as a unit line segment, consists of high priority segments that require the highest level of protection separated by low…
In bicycle share networks, the balance between demand and supply is disrupted. As a result, shared resources are wasted and management costs for operators increase. Therefore, in this paper, we analyze the cycle relocation problem from 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…
The applicability of the swarm robots to perform foraging tasks is inspired by their compact size and cost. A considerable amount of energy is required to perform such tasks, especially if the tasks are continuous and/or repetitive.…
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…
Coverage path planning is a well-studied problem in robotics in which a robot must plan a path that passes through every point in a given area repeatedly, usually with a uniform frequency. To address the scenario in which some points need…
This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…
In the field of swarm robotics, one of the most studied problem is Gathering. It asks for a distributed algorithm that brings the robots to a common location, not known in advance. We consider the case of robots constrained to move along…
We consider a problem of robotic router placement and mobility control with the objective of formation and maintenance of an optimal communication network between a set of transmitter-receiver pairs. In this scenario, the communication path…
We consider the problem of coordinating a fleet of robots in a warehouse so as to maximize the reward achieved within a time limit while respecting problem and robot specific constraints. We formulate the problem as a weighted set packing…
In dynamic flow networks, every vertex starts with items (flow) that need to be shipped to designated sinks. All edges have two associated quantities: length, the amount of time required for a particle to traverse the edge, and capacity,…