Related papers: Multi-UAV Coverage Path Planning for the Inspectio…
This paper presents a Genetic Programming (GP) approach to solving multi-robot path planning (MRPP) problems in single-lane workspaces, specifically those easily mapped to graph representations. GP's versatility enables this approach to…
Arc-routing problems underpin numerous critical field operations, including power-line inspection, urban police patrolling, and traffic monitoring. In this domain, the Rural Postman Problem (RPP) is a fundamental variant in which a…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
We consider a cooperative vehicle routing problem for surveillance and reconnaissance missions with communication constraints between the vehicles. We propose a framework which involves a ground vehicle and an aerial vehicle; the vehicles…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…
A major challenge with off-road autonomous navigation is the lack of maps or road markings that can be used to plan a path for autonomous robots. Classical path planning methods mostly assume a perfectly known environment without accounting…
The labeled MRPP (Multi-Robot Path Planning) problem involves routing robots from start to goal configurations efficiently while avoiding collisions. Despite progress in solution quality and runtime, its complexity and industrial relevance…
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…
Efficient Coverage Path Planning (CPP) is necessary for autonomous robotic lawnmowers to effectively navigate and maintain lawns with diverse and irregular shapes. This paper introduces a comprehensive end-to-end pipeline for CPP, designed…
The Vehicle Routing Problem (VRP) is the combinatorial optimization problem of designing routes for vehicles to visit customers in such a fashion that a cost function, typically the number of vehicles, or the total travelled distance is…
Unmanned Aerial Vehicles (UAVs) have been implemented for environmental monitoring by using their capabilities of mobile sensing, autonomous navigation, and remote operation. However, in real-world applications, the limitations of on-board…
Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for long trips. This work proposes an anytime iterative system…
In Japan, inspection of irrigation water canals has been mostly conducted manually. However, the huge demand for more regular inspections as infrastructure ages, coupled with the limited time window available for inspection, has rendered…
Lane merging is one of the critical tasks for self-driving cars, and how to perform lane-merge maneuvers effectively and safely has become one of the important standards in measuring the capability of autonomous driving systems. However,…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
In recent years, using drone, also known as unmanned aerial vehicle (UAV), in close-distance visual inspection has became an active area in many disciplines. However, many challenges still remain before we can achieve autonomous inspection,…
Link failures in wide area networks are common and cause significant data losses. Mesh-based protection schemes offer high capacity efficiency but they are slow and require complex signaling. Additionally, real-time reconfiguration of a…
The paper investigates the problem of path planning techniques for multi-copter uncrewed aerial vehicles (UAV) cooperation in a formation shape to examine surrounding surfaces. We first describe the problem as a joint objective cost for…
The Vehicle Routing Problem (VRP) is a popular generalization of the Traveling Salesperson Problem. Instead of one salesperson traversing the entire weighted, undirected graph $G$, there are $k$ vehicles available to jointly cover the set…