Related papers: GHACPP: Genetic-based Human-Aware Coverage Path Pl…
The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary information gain formulations. However, they are prone to local…
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…
In this paper we present a cooperative multi-robot strategy to adaptively explore and sample environments that are unfavorable for humans. We propose a methodology for a team of heterogeneous robots to collaborate on information based…
Coverage Path Planning (CPP) is a fundamental capability for agricultural robots; however, existing solutions often overlook energy constraints, resulting in incomplete operations in large-scale or resource-limited environments. This paper…
We present a novel learning-based trajectory generation algorithm for outdoor robot navigation. Our goal is to compute collision-free paths that also satisfy the environment-specific traversability constraints. Our approach is designed for…
This paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption of the employed…
Reliable human--robot collaboration in emergency scenarios requires autonomous systems that can detect humans, infer navigation goals, and operate safely in dynamic environments. This paper presents HumanDiffusion, a lightweight…
Existing Global Path Planning (GPP) algorithms predominantly presume planning in static environments. This assumption immensely limits their applications to Unmanned Surface Vehicles (USVs) that typically navigate in dynamic environments.…
Hazardous environments such as chemical spills, radiological zones, and bio-contaminated sites pose significant threats to human safety and public infrastructure. Rapid and reliable hazard mitigation in these settings often unsafe for…
Unmanned Aerial Vehicle (UAV) Coverage Path Planning (CPP) is critical for applications such as precision agriculture and search and rescue. While traditional methods rely on discrete grid-based representations, real-world UAV operations…
Cellular networks are promising to support effective wireless communications for unmanned aerial vehicles (UAVs), which will help to enable various long-range UAV applications. However, these networks are optimized for terrestrial users,…
Autonomous navigation in partially observable environments requires agents to reason beyond immediate sensor input, exploit occlusion, and ensure safety while progressing toward a goal. These challenges arise in many robotics domains, from…
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…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
Autonomous systems have played an important role in response to the Covid-19 pandemic. Notably, there have been multiple attempts to leverage Unmanned Aerial Vehicles (UAVs) to disinfect surfaces. Although recent research suggests that…
Automating labor-intensive tasks such as crop monitoring with robots is essential for enhancing production and conserving resources. However, autonomously monitoring horticulture crops remains challenging due to their complex structures,…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. To…
Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we introduce the Unified Path Planner (UPP), a graph-search…