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Coverage path planning with unmanned aerial vehicles (UAVs) is a core task for many services and applications including search and rescue, precision agriculture, infrastructure inspection and surveillance. This work proposes an integrated…
The automatic inspection of surface defects is an important task for quality control in the computers, communications, and consumer electronics (3C) industry. Conventional devices for defect inspection (viz. line-scan sensors) have a…
This article addresses the problem of Cooperative Coverage Path Planning (C-CPP) for the inspection of complex infrastructures (offline 3D reconstruction) by utilizing multiple Unmanned Autonomous Vehicles (UAVs). The proposed scheme, based…
This paper proposes a novel mission planning platform, capable of efficiently deploying a team of UAVs to cover complex-shaped areas, in various remote sensing applications. Under the hood lies a novel optimization scheme for grid-based…
Multi-UAV Coverage Path Planning (mCPP) algorithms in popular commercial software typically treat a Region of Interest (RoI) only as a 2D plane, ignoring important3D structure characteristics. This leads to incomplete 3Dreconstructions,…
The utilization of Unmanned Ground Vehicles (UGVs) for patrolling industrial sites has expanded significantly. These UGVs typically are equipped with perception systems, e.g., computer vision, with limited range due to sensor limitations or…
This paper presents a deep-learning based CPP algorithm, called Coverage Path Planning Network (CPPNet). CPPNet is built using a convolutional neural network (CNN) whose input is a graph-based representation of the occupancy grid map while…
The use of an efficient coverage planning method is key for autonomous navigation in agricultural environments, where a robot must cover large areas of crops. This paper generally reviews the current state of the art of coverage path…
Multi-robot systems are widely used for coverage tasks that require efficient coordination across large environments. In Multi-Robot Coverage Path Planning (MCPP), the objective is typically to minimize the makespan by generating…
A mechanism to derive non-repetitive coverage path solutions with a proven minimal number of discontinuities is proposed in this work, with the aim to avoid unnecessary, costly end effector lift-offs for manipulators. The problem is…
This paper presents a communication and energy-aware multi-UAV Coverage Path Planning (mCPP) method for scenarios requiring continuous inter-UAV communication, such as cooperative search and rescue and surveillance missions. Unlike existing…
This letter presents an energy-efficient multi-robot coverage path planning (MRCPP) framework for large, nonconvex Regions of Interest (ROI) containing obstacles and no-fly zones (NFZ). Existing minimum-energy coverage planning algorithms…
We introduce the Multi-Robot Connected Fermat Spiral (MCFS), a novel algorithmic framework for Multi-Robot Coverage Path Planning (MCPP) that adapts Connected Fermat Spiral (CFS) from the computer graphics community to multi-robot…
In Part 1 of this paper, we introduced a coding-based proactive network protection scheme, named Coded Path Protection (CPP). In CPP, a backup stream of the primary data is encoded with other data streams, resulting in capacity savings. In…
This paper tackles the problem of planning minimum-energy coverage paths for multiple UAVs. The addressed Multi-UAV Coverage Path Planning (mCPP) is a crucial problem for many UAV applications such as inspection and aerial survey. However,…
Link failures in wide area networks are common and cause significant data losses. Mesh-based protection schemes offer high capacity efficiency but they are slow and require complex signaling. Additionally, real-time reconfiguration of a…
Planning the path to gather the surface information of the target objects is crucial to improve the efficiency of and reduce the overall cost, for visual inspection applications with Unmanned Aerial Vehicles (UAVs). Coverage Path Planning…
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…
Link failures in wide area networks are common and cause significant data losses. Mesh-based protection schemes offer high capacity efficiency but they are slow and require complex signaling. Additionally, real-time reconfigurations of…
For massive large-scale tasks, a multi-robot system (MRS) can effectively improve efficiency by utilizing each robot's different capabilities, mobility, and functionality. In this paper, we focus on the multi-robot coverage path planning…