Related papers: Online Obstacle evasion with Space-Filling Curves
We study a new search problem on the plane involving a robot and an immobile treasure, initially placed at distance $1$ from each other. The length $\beta$ of an arc (a fence) within the perimeter of the corresponding circle, as well as the…
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…
Robots that can effectively understand human intentions from actions are crucial for successful human-robot collaboration. In this work, we address the challenge of a robot navigating towards an unknown goal while also accounting for a…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
Recent papers have shown optimally-competitive on-line strategies for a robot traveling from a point $s$ to a point $t$ in certain unknown geometric environments. We consider the question: Having gained some partial information about the…
This paper deals with the accomplishment of total area coverage of an arbitrary region using sensors with a finite sensing radius of rs. For a given region, we aim to obtain a deterministic placement of sensors which, apart from ensuring…
This paper presents a novel control algorithm for robotic manipulators in unstructured environments using proximity sensors partially distributed on the platform. The proposed approach exploits arrays of multi zone Time-of-Flight (ToF)…
Control barrier functions (CBF) are widely explored to enforce the safety-critical constraints on nonlinear systems recently. There are many researchers incorporating the control barrier functions into path planning algorithms to find a…
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…
Our goal in this paper is to plan the motion of a robot in a partitioned environment with dynamically changing, locally sensed rewards. We assume that arbitrary assumptions on the reward dynamics can be given. The robot aims to accomplish a…
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…
We consider path planning for a rigid spatial robot with 6 degrees of freedom (6 DOFs), moving amidst polyhedral obstacles. A correct, complete and practical path planner for such a robot has never been achieved, although this is widely…
In this paper we study the following multi-robot coordination problem: given a graph, where each edge is weighted by the probability of surviving while traversing it, find a set of paths for $K$ robots that maximizes the expected number of…
Physically disentangling entangled objects from each other is a problem encountered in waste segregation or in any task that requires disassembly of structures. Often there are no object models, and, especially with cluttered irregularly…
Many application areas collect unstructured trajectory data. In subtrajectory clustering, one is interested to find patterns in this data using a hybrid combination of segmentation and clustering. We analyze two variants of this problem…