Related papers: From 2D to 3D terrain-following area coverage path…
Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…
A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…
For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR-based terrain modeling approach, which could output stable, complete and accurate terrain models and…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Many emerging technologies for the next generation wireless network prefer line-of-sight (LOS) propagation conditions to fully release their performance advantages. This paper studies 3D unmanned aerial vehicle (UAV) placement to establish…
Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…
This work studies path planning in two-dimensional space, in the presence of polygonal obstacles. We specifically address the problem of building a roadmap graph, that is, an abstract representation of all the paths that can potentially be…
Coverage path planning (CPP) is the task of computing an optimal path within a region to completely scan or survey an area of interest using one or multiple mobile robots. Robots equipped with sensors and cameras can collect vast amounts of…
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…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…
Deploying unmanned aerial vehicle (UAV) networks to provide coverage for outdoor users has attracted great attention during the last decade. However, outdoor coverage is challenging due to the high mobility of crowds and the diverse terrain…
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…
Reconstruction of directional fields is a need in many geometry processing tasks, such as image tracing, extraction of 3D geometric features, and finding principal surface directions. A common approach to the construction of directional…
Informative path planning (IPP) is used to design paths for robotic sensor platforms to extract the best/maximum possible information about a quantity of interest while operating under a set of constraints, such as the dynamic feasibility…
Informative path planning is an important and challenging problem in robotics that remains to be solved in a manner that allows for wide-spread implementation and real-world practical adoption. Among various reasons for this, one is the…
Collision-free path planning is an essential requirement for autonomous exploration in unknown environments, especially when operating in confined spaces or near obstacles. This study presents an autonomous exploration technique using a…
Unmanned aerial vehicles (UAVs) are desirable platforms for time-efficient and cost-effective task execution. 3-D path planning is a key challenge for task decision-making. This paper proposes an improved multi-objective evolutionary…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
Maneuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver. Unless the vehicle is accurately steered, parts of the vehicle's bodies may exceed its assigned drive lane, resulting in an…
Service providers employ different transport technologies like PDH, SDH/SONET, OTN, DWDM, Ethernet, MPLS-TP etc. to support different types of traffic and service requirements. Dynamic service provisioning requires the use of on-line…