Related papers: Routing for unmanned aerial vehicles: touring dime…
We propose a context-sensitive grammar for the systematic exploration of the design space of the topology of 3D robots, particularly unmanned aerial vehicles. It defines production rules for adding components to an incomplete design…
Unmanned aerial vehicles, or drones, have the potential to significantly reduce the cost and time of making last-mile deliveries and responding to emergencies. Despite this potential, little work has gone into developing vehicle routing…
In the Traveling Salesman Problem with Drones (TSP-mD), a truck and multiple drones cooperate to serve customers in the minimum amount of time. The drones are launched and retrieved by the truck at customer locations, and each of their…
The Clustered Vehicle Routing Problem (CluVRP) is a variant of the Capacitated Vehicle Routing Problem in which customers are grouped into clusters. Each cluster has to be visited once, and a vehicle entering a cluster cannot leave it until…
We study a trajectory-planning problem whose solution path evolves by means of a Lie group action and passes near a designated set of target positions at particular times. This is a higher-order variational problem in optimal control,…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…
We study the problem of planning paths for a team of robots for visually monitoring an environment. Our work is motivated by surveillance and persistent monitoring applications. We are given a set of target points in a polygonal environment…
In this article we study the possibilities of recovering the structure of port-Hamiltonian systems starting from ``unlabelled'' ordinary differential equations describing mechanical systems. The algorithm we suggest solves the problem in…
We propose a novel context-aware drone delivery framework for optimizing package delivery through skyway networks in smart cities. We reformulate the problem of finding an optimal drone service delivery pathway as a more congruent and…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
Two multivehicle routing problems are considered in the framework that a visit to a location must take place during a specific time window in order to be counted and all time windows are the same length. In the first problem, the goal is to…
Motivated by issues dealing with delivery of emergency medical products during humanitarian disasters, this paper addresses the general problem of delivering perishable items to remote demands accessible only by helicopters or drones. Each…
A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a…
A new characterization of Hamiltonian graphs using f-cutset matrix is proposed. Based on this new characterization, a new exact polynomial time algorithm for the traveling salesman problem (TSP) is developed. We then define the so-called…
When solving the Hamiltonian path problem it seems natural to be given additional precedence constraints for the order in which the vertices are visited. For example one could decide whether a Hamiltonian path exists for a fixed starting…
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…
Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…