Related papers: Coverage Path Planning For Minimizing Expected Tim…
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…
The land used for grazing cattle takes up about one-third of the land in the United States. These areas can be highly rugged. Yet, they need to be maintained to prevent weeds from taking over the nutritious grassland. This can be a daunting…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
This article considers two variants of a shortest path problem for a car-like robot visiting a set of waypoints. The sequence of waypoints to be visited is specified in the first variant while the robot is allowed to visit the waypoints in…
In this paper we investigate the problem of using a UAV to provide current map information of the environment in front of a moving ground vehicle. We propose a simple coverage plan called a conformal lawn mower plan that enables a UAV to…
The problem of finding the shortest path for a vehicle visiting a given sequence of target points subject to the motion constraints of the vehicle is an important problem that arises in several monitoring and surveillance applications…
We study the problem of the Unmanned Aerial Vehicle (UAV) such that a specific set of objects needs to be observed while ensuring a quality of observation. Our goal is to determine the shortest path for the UAV. This paper proposes an…
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…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
The Orthogonal Watchman Route Problem (OWRP) entails the search for the shortest path, known as the watchman route, that a robot must follow within a polygonal environment. The primary objective is to ensure that every point in the…
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…
We introduce and study a class of optimization problems we coin replenishment problems with fixed turnover times: a very natural model that has received little attention in the literature. Nodes with capacity for storing a certain commodity…
We introduce a new route-finding problem which considers perception and travel costs simultaneously. Specifically, we consider the problem of finding the shortest tour such that all objects of interest can be detected successfully. To…
It is common to encounter situations where one must solve a sequence of similar computational problems. Running a standard algorithm with worst-case runtime guarantees on each instance will fail to take advantage of valuable structure…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…
The traditional way of tackling discrete optimization problems is by using local search on suitably defined cost or fitness landscapes. Such approaches are however limited by the slowing down that occurs when the local minima that are a…
We propose a path planning methodology for a mobile robot navigating through an obstacle-filled environment to generate a reference path that is traceable with moderate sensing efforts. The desired reference path is characterized as the…
We investigate a practical variant of the well-known polygonal visibility path (watchman) problem. For a polygon $P$, a minimum link visibility path is a polygonal visibility path in $P$ that has the minimum number of links. The problem of…
Given the necessity of connecting the unconnected, covering blind spots has emerged as a critical task in the next-generation wireless communication network. A direct solution involves obtaining a coverage manifold that visually showcases…