Related papers: Edge Coverage Path Planning for Robot Mowing

Motion planning and navigation, especially for mobile robots operating in complex navigational environments, has been a central problem since robotics started. A heuristic way to address it is the construction of a graph-based…

The motion planning problem is a fundamental problem in robotics, so that every autonomous robot should be able to deal with it. A number of solutions have been proposed and a probabilistic one seems to be quite reasonable. However, here we…

We consider nonconvex obstacle avoidance where a robot described by nonlinear dynamics and a nonconvex shape has to avoid nonconvex obstacles. Obstacle avoidance is a fundamental problem in robotics and well studied in control. However,…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

Large environments are challenging for path planning algorithms as the size of the configuration space increases. Furthermore, if the environment is mainly unexplored, large amounts of the path are planned through unknown areas. Hence, a…

We consider scenarios where a ground vehicle plans its path using data gathered by an aerial vehicle. In the aerial images, navigable areas of the scene may be occluded due to obstacles. Naively planning paths using aerial images may result…

This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…

In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves…

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…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

Expanders are powerful algorithmic structures with two key properties: they are a) routable: for any multi-commodity flow unit demand, there exists a routing with low congestion over short paths, where a demand is unit if the amount of…

The pandemic by COVID-19 is causing a devastating effect on the health of global population. There are several efforts to prevent the spread of the virus. Among those efforts, cleaning and disinfecting public areas have become important…

The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…

Hair styling is a crucial aspect of personal grooming, significantly influenced by the appearance of front hair. While brushing is commonly used both to detangle hair and for styling purposes, existing research primarily focuses on robotic…

Many automated manufacturing processes rely on industrial robot arms to move process-specific tools along workpiece surfaces. In applications like grinding, sanding, spray painting, or inspection, they need to cover a workpiece fully while…

We consider the motion planning problem for a point constrained to move along a smooth closed convex path of bounded curvature. The workspace of the moving point is bounded by a convex polygon with m vertices, containing an obstacle in a…

The article considers solving the problem of precision cutting of honeycomb blocks. The urgency of using arbitrary shapes application cutting from honey-comb blocks made of modern composite materials is substantiated. The problem is to…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…

Robotic inspection of radioactive areas enables operators to be removed from hazardous environments; however, planning and operating in confined, cluttered environments remain challenging. These systems must autonomously reconstruct the…