Related papers: On The Computational Complexity of Minimum Aerial …
Surveillance and surveying are two important applications of empirical research. A major part of terrain modelling is supported by photographic surveys which are used for capturing expansive natural surfaces using a wide range of sensors --…
In this paper, we consider the problem of covering a plane region with unit discs. We present an improved upper bound and the first nontrivial lower bound on the number of discs needed for such a covering, depending on the area and…
We consider methods for finding a simple polygon of minimum (Min-Area) or maximum (Max-Area) possible area for a given set of points in the plane. Both problems are known to be NP-hard; at the center of the recent CG Challenge, practical…
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…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
We give an overview of theoretical and practical aspects of finding a simple polygon of minimum (Min-Area) or maximum (Max-Area) possible area for a given set of n points in the plane. Both problems are known to be NP-hard and were the…
The need for fast, effective and accurate surveys have become increasingly necessary. A major part of the research is supported by photographic surveys which are used for capturing expansive natural surfaces using a wide range of sensors --…
This article addresses the visual area coverage problem using a team of Unmanned Aerial Vehicles (UAVs). The UAVs are assumed to be equipped with a downward facing camera covering all points of interest within a circle on the ground. The…
This article addresses the challenge of UAV survey coverage path planning for areas that are complex concave polygons, containing exclusion zones or obstacles. While standard drone path planners typically generate coverage paths for simple…
Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…
In aerial visual area coverage missions, the camera footprint changes over time based on the camera position and orientation -- a fact that complicates the whole process of coverage and path planning. This article proposes a solution to the…
Satellite imagery solutions are widely used to study and monitor different regions of the Earth. However, a single satellite image can cover only a limited area. In cases where a larger area of interest is studied, several images must be…
The problem of covering random points in a plane with sets of a given shape has several practical applications in communications and operations research. One especially prominent application is the coverage of randomly-located points of…
This article examines the problem of visual area coverage by a network of Mobile Aerial Agents (MAAs). Each MAA is assumed to be equipped with a downwards facing camera with a conical field of view which covers all points within a circle on…
This paper considers the problem of finding a landing spot for a drone in a dense urban environment. The conflicting requirement of fast exploration and high resolution is solved using a multi-resolution approach, by which visual…
Swarms of drones offer an increased sensing aperture, and having them mimic behaviors of natural swarms enhances sampling by adapting the aperture to local conditions. We demonstrate that such an approach makes detecting and tracking…
The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while…
The optimal circle coverage problem aims to find a configuration of circles that maximizes the covered area within a given region. Although theoretical optimal solutions exist for simple cases, the problem's NP-hard characteristic makes the…
Plane Wave imaging enables many applications that require high frame rates, including localisation microscopy, shear wave elastography, and ultra-sensitive Doppler. To alleviate the degradation of image quality with respect to conventional…
An algorithm for 3D terrain-following area coverage path planning is presented. Multiple adjacent paths are generated that are (i) locally apart from each other by a distance equal to the working width of a machinery, while (ii)…