Related papers: Mobile Robot Sensory Coverage in 2-D Environments:…
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…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
In many applications of autonomous mobile robots the following problem is encountered. Two maps of the same environment are available, one a prior map and the other a sensor map built by the robot. To benefit from all available information…
In this work we propose a coverage planning control approach which allows a mobile agent, equipped with a controllable sensor (i.e., a camera) with limited sensing domain (i.e., finite sensing range and angle of view), to cover the surface…
Assume n wireless mobile sensors are initially dispersed in an ad hoc manner in a rectangular region. They are required to move to final locations so that they can detect any intruder crossing the region in a direction parallel to the sides…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…
Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…
Line coverage is the task of servicing a given set of one-dimensional features in an environment. It is important for the inspection of linear infrastructure such as road networks, power lines, and oil and gas pipelines. This paper…
We consider the spatial classification problem for monitoring using data collected by a coordinated team of mobile robots. Such classification problems arise in several applications including search-and-rescue and precision agriculture.…
We study the algorithmic problem of optimally covering a tree with $k$ mobile robots. The tree is known to all robots, and our goal is to assign a walk to each robot in such a way that the union of these walks covers the whole tree. We…
We consider the problem of finding patrol schedules for $k$ robots to visit a given set of $n$ sites in a metric space. Each robot has the same maximum speed and the goal is to minimize the weighted maximum latency of any site, where the…
We study the problem of assigning robots with actions to track targets. The objective is to optimize the robot team's tracking quality which can be defined as the reduction in the uncertainty of the targets' states. Specifically, we…
Covering a bounded region with minimum number of homogeneous sensor nodes is a NP-complete problem \cite{Li09}. In this paper we have proposed an {\it id} based distributed algorithm for optimal coverage in an unbounded region. The proposed…
We investigate the problem of monitoring multiple targets using a single mobile sensor, with the goal of minimizing the maximum estimation error among all the targets over long time horizons. The sensor can move in a network-constrained…
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…
In this paper, we present the first constant-approximation algorithm for {\em budgeted sweep coverage problem} (BSC). The BSC involves designing routes for a number of mobile sensors (a.k.a. robots) to periodically collect information as…
Optimal path planning problems for rigid and deformable (bendable) cuboid robots are considered by providing an analytic safety constraint using generalized $L_p$ norms. For regular cuboid robots, level sets of weighted $L_p$ norms generate…
Base placement optimization (BPO) is a fundamental capability for mobile manipulation and has been researched for decades. However, it is still very challenging for some reasons. First, compared with humans, current robots are extremely…
The minimum constraint removal problem seeks to find the minimum number of constraints, i.e., obstacles, that need to be removed to connect a start to a goal location with a collision-free path. This problem is NP-hard and has been studied…