Related papers: The Single Robot Line Coverage Problem: Theory, Al…
For large-scale tasks, coverage path planning (CPP) can benefit greatly from multiple robots. In this paper, we present an efficient algorithm MSTC* for multi-robot coverage path planning (mCPP) based on spiral spanning tree coverage…
The paper presents a strategy for robotic exploration problem using Space-Filling curves (SFC). The strategy plans a path that avoids unknown obstacles while ensuring complete coverage of the free space in region of interest. The region of…
Routing and scheduling problems are fundamental problems in combinatorial optimization, and also have many applications. Most variations of these problems are NP-Hard, so we need to use heuristics to solve these problems on large instances,…
We study a large family of graph covering problems, whose definitions rely on distances, for graphs of bounded cyclomatic number (that is, the minimum number of edges that need to be removed from the graph to destroy all cycles). These…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…
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…
An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…
Following [21, 23], the present work investigates a new relative entropy-regularized algorithm for solving the optimal transport on a graph problem within the randomized shortest paths formalism. More precisely, a unit flow is injected into…
Coverage problem in wireless sensor networks measures how well a region or parts of it is sensed by the deployed sensors. Definition of coverage metric depends on its applications for which sensors are deployed. In this paper, we introduce…
Robot Coverage Path planning (i.e., provide full coverage of a given domain by one or multiple robots) is a classical problem in the field of robotics and motion planning. The goal is to provide nearly full coverage while also minimize…
In this paper, we present several results of both theoretical as well as practical interests. First, we propose the quota lawn mowing problem, an extension of the classic lawn mowing problem in computational geometry, as follows: given a…
Line art is arguably one of the fundamental and versatile modes of expression. We propose a pipeline for a robot to look at a grayscale line art and redraw it. The key novel elements of our pipeline are: a) we propose a novel task of…
In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires.…
The multiple-path orienteering problem asks for paths for a team of robots that maximize the total reward collected while satisfying budget constraints on the path length. This problem models many multi-robot routing tasks such as exploring…
Realistic path planning applications often require optimizing with respect to several criteria simultaneously. Here we introduce an efficient algorithm for bi-criteria path planning on graphs. Our approach is based on augmenting the state…
Coverage path planning (CPP) is the problem of finding a path that covers the entire free space of a confined area, with applications ranging from robotic lawn mowing to search-and-rescue. While for known environments, offline methods can…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
The number of optimization techniques in the combinatorial domain is large and diversified. Nevertheless, real-world based benchmarks for testing algorithms are few. This work creates an extensible real-world mail delivery benchmark to the…
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…