Related papers: Multi-Depth Uniform Coverage Path Planning for Unm…
Planning for multi-robot coverage seeks to determine collision-free paths for a fleet of robots, enabling them to collectively observe points of interest in an environment. Persistent coverage is a variant of traditional coverage where…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
We present an online centralized path planning algorithm to cover a large, complex, unknown workspace with multiple homogeneous mobile robots. Our algorithm is horizon-based, synchronous, and on-demand. The recently proposed horizon-based…
Many environments, such as unvisited planetary surfaces and oceanic regions, remain unexplored due to a lack of prior knowledge. Autonomous vehicles must sample upon arrival, process data, and either transmit findings to a teleoperator or…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
This paper deals with the problem of informative path planning for a UAV deployed for precision agriculture applications. First, we observe that the ``fear of missing out'' data lead to uniform, conservative scanning policies over the whole…
This paper addresses the following task: given a set of patches or areas of varying sizes that are meant to be serviced within a bounding contour calculate a minimal length path plan for an unmanned aerial vehicle (UAV) such that the path…
Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring unknown environments is that the robot has to plan with the…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
This paper proposes a state-machine model for a multi-modal, multi-robot environmental sensing algorithm. This multi-modal algorithm integrates two different exploration algorithms: (1) coverage path planning using variable formations and…
Indoor infrastructure inspection, such as tunnels and industrial facilities, requires systematic surface coverage to ensure that all inspection targets are properly observed. Unmanned Aerial Vehicles (UAVs) offer an alternative to manual…
Up until now, path planning for unmanned aerial vehicles (UAVs) has mainly been focused on the optimisation towards energy efficiency. However, to operate UAVs safely, wireless coverage is of utmost importance. Currently, deployed cellular…
Accurate and cost effective mapping of water bodies has an enormous significance for environmental understanding and navigation. However, the quantity and quality of information we acquire from such environmental features is limited by…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
The pandemic by COVID-19 is causing a devastating effect on the health of global population. There are several efforts to prevent the spread of the virus. Among those efforts, cleaning and disinfecting public areas have become important…
Multi-view Synthetic Aperture Radar (SAR) imaging can effectively enhance the performance of tasks such as automatic target recognition and image information fusion. Unmanned aerial vehicles (UAVs) have the advantages of flexible deployment…
Autonomous underwater vehicles (AUVs) are robotic platforms that are commonly used to map the sea floor, for example for benthic surveys or for naval mine countermeasures (MCM) operations. AUVs create an acoustic image of the survey area,…
A major challenge with off-road autonomous navigation is the lack of maps or road markings that can be used to plan a path for autonomous robots. Classical path planning methods mostly assume a perfectly known environment without accounting…
Radio maps are emerging as a popular means to endow next-generation wireless communications with situational awareness. In particular, radio maps are expected to play a central role in unmanned aerial vehicle (UAV) communications since they…