相关论文: Optimal In-field Routing for Full and Partial Fiel…

Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…

A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…

Grid mapping is a fundamental approach to modeling the environment of intelligent vehicles or robots. Compared with object-based environment modeling, grid maps offer the distinct advantage of representing the environment without requiring…

In this paper we consider random access wireless multi-hop mesh networks with multi-packet reception capabilities where multiple flows are forwarded to the gateways through node disjoint paths. We address the issue of aggregate…

Environmental monitoring and surveying operations on rivers currently are performed primarily with manually-operated boats. In this domain, autonomous coverage of areas is of vital importance, for improving both the quality and the…

This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using direct orthogonal collocation methods, the two-point boundary value optimal control problem is transcribed…

Directional fields, including unit vector, line, and cross fields, are essential tools in the geometry processing toolkit. The topology of directional fields is characterized by their singularities. While singularities play an important…

The packet routing problem asks to select routing paths that minimize the maximum edge congestion for a set of packets specified by source-destination vertex pairs. We revisit a semi-oblivious approach to this problem: each…

Autonomous navigation in extreme mountainous terrains poses challenges due to the presence of mobility-stressing elements and undulating surfaces, making it particularly difficult compared to conventional off-road driving scenarios. In such…

MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…

The recent thrust on digital agriculture (DA) has renewed significant research interest in the automated delineation of agricultural fields. Most prior work addressing this problem have focused on detecting medium to large fields, while…

In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…

Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…

This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…

In this paper, we propose a method to replan coverage paths for a robot operating in an environment with initially unknown static obstacles. Existing coverage approaches reduce coverage time by covering along the minimum number of coverage…

Multi-robot Coverage Path Planning (MCPP) addresses the problem of computing paths for multiple robots to effectively cover a large area of interest. Conventional approaches to MCPP typically assume that robots move at fixed velocities,…

We consider an optimization problem posed by an actual newspaper company, which consists of computing a minimum length route for a delivery truck, such that the driver only stops at street crossings, each time delivering copies to all…

Wireless mesh networks appear as an appealing solution to reduce the digital divide between rural and urban regions. However the placement of router nodes is still a critical issue when planning this type of network, especially in rural…

This work focuses on exact methods for a Simultaneous Vehicle Routing and Crew Scheduling Problem in long-haul transport. Pickup-and-delivery requests with time windows must be fullfiled over a multi-day planning horizon. Unlike some…

Mobile robots hold great promise in reducing the need for humans to perform jobs such as vacuuming, seeding,harvesting, painting, search and rescue, and inspection. In practice, these tasks must often be done without an exact map of the…