相关论文: Online Exploration of Polygons with Holes
We study the Cooperative Guarding problem for polygons with holes in a mobile multi-agents setting. Given a set of agents, initially deployed at a point in a polygon with $n$ vertices and $h$ holes, we require the agents to collaboratively…
In this paper, we study the problem of exploring an unknown Region Of Interest (ROI) with a team of aerial robots. The size and shape of the ROI are unknown to the robots. The objective is to find a tour for each robot such that each point…
We investigate the online exploration problem (aka covering) of a short-sighted mobile robot moving in an unknown cellular environment with hexagons and triangles as types of cells. To explore a cell, the robot must enter it. Once inside,…
The Meeting problem for $k\geq 2$ searchers in a polygon $P$ (possibly with holes) consists in making the searchers move within $P$, according to a distributed algorithm, in such a way that at least two of them eventually come to see each…
We present an algorithm to explore an orthogonal polygon using a team of $p$ robots. This algorithm combines ideas from information-theoretic exploration algorithms and computational geometry based exploration algorithms. We show that the…
This article presents a distributed algorithm for a group of robotic agents with omnidirectional vision to deploy into nonconvex polygonal environments with holes. Agents begin deployment from a common point, possess no prior knowledge of…
With the advent of autonomous robots with two- and three-dimensional scanning capabilities, classical visibility-based exploration methods from computational geometry have gained in practical importance. However, real-life laser scanning of…
This paper considers the path planning problem for autonomous exploration of an unknown environment using multiple heterogeneous robots such as drones, wheeled, and legged robots, which have different capabilities to traverse complex…
We investigate the exploration problem of a short-sighted mobile robot moving in an unknown cellular room. To explore a cell, the robot must enter it. Once inside, the robot knows which of the 4 adjacent cells exist and which are boundary…
Consider a set of autonomous computational entities, called \emph{robots}, operating inside a polygonal enclosure (possibly with holes), that have to perform some collaborative tasks. The boundary of the polygon obstructs both visibility…
Algorithmic approaches to exhaustive coverage have application in video games, enabling automatic game level exploration. Current designs use simple heuristics that frequently result in poor performance or exhibit unnatural behaviour. In…
The paper presents a systematic strategy for implementing Hilbert's space filling curve for use in online exploration tasks and addresses its application in scenarios wherein the space to be searched obstacles (or holes) whose locations are…
In this work, we present a new approach for competitive geometric routing in wireless ad hoc networks. In general, it is well-known that any online routing strategy performs very poor in the worst case. The main difficulty are uncovered…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
A mobile robot represented by a point moving in the plane has to explore an unknown terrain with obstacles. Both the terrain and the obstacles are modeled as arbitrary polygons. We consider two scenarios: the unlimited vision, when the…
We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a…
We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
The paper presents a strategy for robotic exploration problem using Space-Filling curves (SFC). The strategy plans a path that avoids unknown obstacles while ensuring complete coverage of the free space in region of interest. The region of…
Heterogeneous teams of Unmanned Aerial Vehicles (UAVs) can enhance the exploration capabilities of aerial robots by exploiting different strengths and abilities of varying UAVs. This paper presents a novel method for exploring unknown…