相关论文: Optimal In-field Routing for Full and Partial Fiel…
In this paper we consider several problems concerning packet routing in distributed systems. Each problem is formulated using terms from Graph Theory and for each problem we present efficient, novel, algorithmic techniques for computing…
The double coverage problem focuses on determining efficient, collision-free routes for multiple robots to simultaneously cover linear features (e.g., surface cracks or road routes) and survey areas (e.g., parking lots or local regions) in…
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)…
The generation of smoother and shorter spiral complete coverage paths in multi-connected domains is a crucial research topic in path planning for robotic cavity machining and other related fields. Traditional methods for spiral path…
This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…
Efficient coverage of unknown environments requires robots to adapt their paths in real time based on on-board sensor data. In this paper, we introduce CAP, a connectivity-aware hierarchical coverage path planning algorithm for efficient…
For large-scale tasks, coverage path planning (CPP) can benefit greatly from multiple robots. In this paper, we present an efficient algorithm MSTC* for multi-robot coverage path planning (mCPP) based on spiral spanning tree coverage…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
Recently, centralized receding horizon online multi-robot coverage path planning algorithms have shown remarkable scalability in thoroughly exploring large, complex, unknown workspaces with many robots. In a horizon, the path planning and…
This paper describes Fields2Cover, a novel open source library for coverage path planning (CPP) for agricultural vehicles. While there are several CPP solutions nowadays, there have been limited efforts to unify them into an open source…
In this paper, we present a novel method to control a rigidly connected location on the vehicle, such as a point on the implement in case of agricultural tasks. Agricultural robots are transforming modern farming by enabling precise and…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…
Line coverage is the task of servicing a given set of one-dimensional features in an environment. It is important for the inspection of linear infrastructure such as road networks, power lines, and oil and gas pipelines. This paper…
This letter aims to present a novel approach for unmanned aerial vehicles (UAV)' path planning with respect to certain quality of service requirements. More specifically, we study the max-min fairness problem in an air-to-ground…
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…
Coverage path planning is a major application for mobile robots, which requires robots to move along a planned path to cover the entire map. For large-scale tasks, coverage path planning benefits greatly from multiple robots. In this paper,…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
The integration of unmanned aerial vehicles (UAVs) into next-generation wireless networks is a promising solution for providing flexible, efficient coverage. This paper explores the optimal deployment of a single UAV to cover an arbitrary…
In this paper, we propose a deterministic algorithm that approximates the optimal path cover on weighted undirected graphs. Based on the 1/2-Approximation Path Cover Algorithm by Moran et al., we add a procedure to remove the redundant…