相关论文: Optimal In-field Routing for Full and Partial Fiel…
Finding an optimal alignment connecting two end-points in a specified corridor is a complex problem that requires solving three interrelated sub-problems, namely the horizontal alignment, vertical alignment and earthwork optimization…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
In this letter, we propose a new routing strategy to improve the transportation efficiency on complex networks. Instead of using the routing strategy for shortest path, we give a generalized routing algorithm to find the so-called {\it…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
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…
Online coverage planning can be useful in applications like field monitoring and search and rescue. Without prior information of the environment, achieving resolution-complete coverage considering the non-holonomic mobility constraints in…
Collaborative edge computing (CEC) is an emerging paradigm where heterogeneous edge devices collaborate to fulfill computation tasks, such as model training or video processing, by sharing communication and computation resources.…
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…
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…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
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…
This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…
Platooning is a way to significantly reduce fuel consumption of trucks. Vehicles that drive at close inter-vehicle distance assisted by automatic controllers experience substantially lower air-drag. In this paper, we deal with the problem…
This paper presents an optimisation-based approach for an obstacle avoidance problem within an autonomous vehicle racing context. Our control regime leverages online reachability analysis and sensor data to compute the maximal safe…
Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
The vertical alignment optimization problem in road design seeks the optimal vertical alignment of a road at minimal cost, taking into account earthwork while meeting all safety and design requirements. In recent years, modelling techniques…
This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…
Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…