Related papers: Securing Pathways with Orthogonal Robots
Gathering mobile robots is a widely studied problem in robotic research. This survey first introduces the related work, summarizing models and results. Then, the focus shifts on the open problem of gathering fat robots. In this context,…
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…
We investigate the problem of using mobile robots equipped with 2D range sensors to optimally guard perimeters or regions, i.e., 1D or 2D sets. Given such a set of arbitrary shape to be guarded, and $k$ mobile sensors where the $i$-th…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…
With the advent of autonomous robots with two- and three-dimensional scanning capabilities, classical visibility-based exploration methods from computational geometry have gained in practical importance. However, real-life laser scanning of…
We consider guarding classes of simple polygons using mobile guards (polygon edges and diagonals) under the constraint that no two guards may see each other. In contrast to most other art gallery problems, existence is the primary question:…
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion,…
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…
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
The problem of adversarial multi-robot patrol has gained interest in recent years, mainly due to its immediate relevance to various security applications. In this problem, robots are required to repeatedly visit a target area in a way that…
This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which are investigated through a motion planning lens. Beyond…
Path planning has long been one of the major research areas in robotics, with PRM and RRT being two of the most effective classes of planners. Though generally very efficient, these sampling-based planners can become computationally…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
We propose precise notions of what it means to guard a domain "robustly", under a variety of models. While approximation algorithms for minimizing the number of (precise) point guards in a polygon is a notoriously challenging area of…
We study the problem of determining coordinated motions, of minimum total length, for two arbitrary convex centrally-symmetric (CCS) robots in an otherwise obstacle-free plane. Using the total path length traced by the two robot centres as…
We study unlabeled multi-robot motion planning for unit-disk robots in a polygonal environment. Although the problem is hard in general, polynomial-time solutions exist under appropriate separation assumptions on start and target positions.…
A challenge still to be overcome in the field of visual perception for vehicle and robotic navigation on heavily damaged and unpaved roads is the task of reliable path and obstacle detection. The vast majority of the researches have as…
Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…