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Building structures can allow a robot to surmount large obstacles, expanding the set of areas it can reach. This paper presents a planning algorithm to automatically determine what structures a construction-capable robot must build in order…
Nucleus segmentation is a challenging task due to the crowded distribution and blurry boundaries of nuclei. Recent approaches represent nuclei by means of polygons to differentiate between touching and overlapping nuclei and have…
In this paper, we describe a low-rank matrix completion method based on matrix decomposition. An incomplete matrix is decomposed into submatrices which are filled with a proposed trimming step and then are recombined to form a low-rank…
Agricultural environments present high proportions of spatially dense navigation bottlenecks for long-term navigation and operational planning of agricultural mobile robots. The existing agent-centric multi-robot path planning (MRPP)…
The exploration of unknown environments using robots is a task that integrates different areas such as location, mapping, and planning. For mapping, there are numerous methods to represent the environments through which a robot can travel,…
In this paper, we explore the challenging 1-to-N map matching problem, which exploits a compact description of map data, to improve the scalability of map matching techniques used by various robot vision tasks. We propose a first method…
Linear Programming (LP) is an important decoding technique for binary linear codes. However, the advantages of LP decoding, such as low error floor and strong theoretical guarantee, etc., come at the cost of high computational complexity…
The line coverage problem involves finding efficient routes for the coverage of linear features by one or more resource-constrained robots. Linear features model environments like road networks, power lines, and oil and gas pipelines. Two…
Numerous mobile robots with mounted Ultraviolet-C (UV-C) lamps were developed recently, yet they cannot work in the same space as humans without irradiating them by UV-C. This paper proposes a novel modular and scalable Human-Aware…
Robot Coverage Path planning (i.e., provide full coverage of a given domain by one or multiple robots) is a classical problem in the field of robotics and motion planning. The goal is to provide nearly full coverage while also minimize…
Sweep coverage is to realize the periodic coverage of targets by planning the periodic sweeping paths of mobile sensors. It is difficult for sensors to reduce energy consumption by reducing the moving distances. Therefore, charging…
This paper addresses the problem of Multi-robot Coverage Path Planning (MCPP) for unknown environments in the presence of robot failures. Unexpected robot failures can seriously degrade the performance of a robot team and in extreme cases…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
This paper presents an algorithmic study of a class of covering mixed-integer linear programming problems which encompasses classic cover problems, including multidimensional knapsack, facility location and supplier selection problems. We…
An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…
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…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
The closest pair problem (CPP) is one of the well studied and fundamental problems in computing. Given a set of points in a metric space, the problem is to identify the pair of closest points. Another closely related problem is the fixed…
Applications involving autonomous navigation and planning of mobile agents can benefit greatly by employing online Simultaneous Localization and Mapping (SLAM) techniques, however, their proper implementation still warrants an efficient…
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…