Related papers: Traversing Mars: Cooperative Informative Path Plan…
Many environments, such as unvisited planetary surfaces and oceanic regions, remain unexplored due to a lack of prior knowledge. Autonomous vehicles must sample upon arrival, process data, and either transmit findings to a teleoperator or…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
Autonomous exploration of unknown environments has been widely applied in inspection, surveillance, and search and rescue. In exploration task, the basic requirement for robots is to detect the unknown space as fast as possible. In this…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
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 study the iterative refinement of path planning for multiple robots, known as multi-agent pathfinding (MAPF). Given a graph, agents, their initial locations, and destinations, a solution of MAPF is a set of paths without collisions.…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…
We consider the informative path planning ($\mathtt{IPP}$) problem in which a robot interacts with an uncertain environment and gathers information by visiting locations. The goal is to minimize its expected travel cost to cover a given…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…
This paper addresses the problem of the communication of optimally compressed information for mobile robot path-planning. In this context, mobile robots compress their current local maps to assist another robot in reaching a target in an…
This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilities. The algorithm expands upon traditional non-graph path…
In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves…