Related papers: Area Coverage with Multiple Capacity-Constrained R…
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 study the problem of covering an environment using an Unmanned Aerial Vehicle (UAV) with limited battery capacity. We consider a scenario where the UAV can land on an Unmanned Ground Vehicle (UGV) and recharge the onboard battery. The…
The line coverage problem involves finding efficient routes for the coverage of linear features by one or more resource-constrained robots. Linear features model environments like road networks, power lines, and oil and gas pipelines. Two…
Unmanned aerial vehicles (UAVs) can be used to provide wireless network and remote surveillance coverage for disaster-affected areas. During such a situation, the UAVs need to return periodically to a charging station for recharging, due to…
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,…
In this paper, we present an approach for coverage path planning for a team of an energy-constrained Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). Both the UAV and the UGV have predefined areas that they have to cover.…
Unmanned Aerial Vehicles (UAVs) are becoming increasingly useful for tasks which require the acquisition of data over large areas. The coverage problem, i.e., the problem of periodically visiting all subregions of an area at a desired…
Planning for multi-robot coverage seeks to determine collision-free paths for a fleet of robots, enabling them to collectively observe points of interest in an environment. Persistent coverage is a variant of traditional coverage where…
Line coverage is the task of servicing a given set of one-dimensional features in an environment. It is important for the inspection of linear infrastructure such as road networks, power lines, and oil and gas pipelines. This paper…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
In real life, providing security for a set of large areas by covering the area with Unmanned Aerial Vehicles (UAVs) is a difficult problem that consist of multiple objectives. These difficulties are even greater if the area coverage must…
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…
There is a strong demand for covering a large area autonomously by multiple UAVs (Unmanned Aerial Vehicles) supported by a ground vehicle. Limited by UAVs' battery life and communication distance, complete coverage of large areas typically…
Coverage of an inaccessible or challenging region with potential health and safety hazards, such as in a volcanic region, is difficult yet crucial from scientific and meteorological perspectives. Areas contained within the region often…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
Fast moving unmanned aerial vehicles (UAVs) are well suited for aerial surveillance, but are limited by their battery capacity. To increase their endurance UAVs can be refueled on slow moving unmanned ground vehicles (UGVs). The cooperative…
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…