Related papers: Edge Coverage Path Planning for Robot Mowing
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…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
The problem of autonomous racing is to navigate through a race course as quickly as possible while not colliding with any obstacles. We approach the autonomous racing problem with the added constraint of not maintaining an updated obstacle…
Online coverage planning can be useful in applications like field monitoring and search and rescue. Without prior information of the environment, achieving resolution-complete coverage considering the non-holonomic mobility constraints in…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate, simpler, steps: first, find a path in the…
In this article, we present a mechanism and related path planning algorithm to construct light-duty barriers out of extruded, inflated tubes weaved around existing environmental features. Our extruded tubes are based on everted vine-robots…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
In this article, we consider a multi-agent path planning problem in a partially impeded environment. The impeded environment is represented by a graph with select road segments (edges) in disrepair impeding vehicular movement in the road…
Given an undirected graph G, the edge orientation problem asks for assigning a direction to each edge to convert G into a directed graph. The aim is to minimize the maximum out degree of a vertex in the resulting directed graph. This…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…
Mobile robots hold great promise in reducing the need for humans to perform jobs such as vacuuming, seeding,harvesting, painting, search and rescue, and inspection. In practice, these tasks must often be done without an exact map of 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…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
There is increasing demand for automated systems that can fabricate 3D structures. Robotic spatial extrusion has become an attractive alternative to traditional layer-based 3D printing due to a manipulator's flexibility to print large,…
Sampling-based algorithms solve the path planning problem by generating random samples in the search-space and incrementally growing a connectivity graph or a tree. Conventionally, the sampling strategy used in these algorithms is biased…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
The agricultural irrigation system is closely related to agricultural production. There are some problems in nowadays agricultural irrigation system, such as poor mobility, imprecision and high price. To address these issues, an intelligent…
To solve the autonomous navigation problem in complex environments, an efficient motion planning approach is newly presented in this paper. Considering the challenges from large-scale, partially unknown complex environments, a three-layer…