相关论文: Offline Grid-Based Coverage path planning for guar…

We devise an algorithm for surveying a dynamic orthogonal polygonal domain by placing one guard at each vertex in a subset of its vertices, i.e., whenever an orthogonal polygonal domain {\cal P'} is modified to result in another orthogonal…

Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem,…

We study the covering path problem on a grid of R^{2}. We generalize earlier results on a rectangular grid and prove that the covering path cost can be bounded by the area and perimeter of the grid. We provide (2+\epsilon) and…

In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradient map to make simple and adaptable cost map. This map can be…

Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…

We present an autonomous exploration system for efficient coverage of unknown environments. First, a rapid environment preprocessing method is introduced to provide environmental information for subsequent exploration planning. Then, the…

In this paper, we study grid-obstacle representations of graphs where we assign grid-points to vertices and define obstacles such that an edge exists if and only if an $xy$-monotone grid path connects the two endpoints without hitting an…

We study the problem of guarding the boundary of a simple polygon with a minimum number of guards such that each guard covers a contiguous portion of the boundary. First, we present a simple greedy algorithm for this problem that returns a…

In this paper, we propose a method that, given a partial grid map of an indoor environment built by an autonomous mobile robot, estimates the amount of the explored area represented in the map, as well as whether the uncovered part is still…

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…

Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…

The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly…

To enable automated software testing, the ability to automatically navigate to a state of interest and to explore all, or at least sufficient number of, instances of such a state is fundamental. When testing a computer game the problem has…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

We introduce and study coverage games - a novel framework for multi-agent planning in settings in which a system operates several agents but does not have full control on them, or interacts with an environment that consists of several…

As industrial autonomous ground vehicles are increasingly deployed in safety-critical environments, ensuring their safe operation under diverse conditions is paramount. This paper presents a novel approach for their safety verification…

In the PATH COVER problem, one asks to cover the vertices of a graph using the smallest possible number of (not necessarily disjoint) paths. While the variant where the paths need to be pairwise vertex-disjoint, which we call PATH…

We address planning and navigation in challenging 3D video games featuring maps with disconnected regions reachable by agents using special actions. In this setting, classical symbolic planners are not applicable or difficult to adapt. We…

This paper introduces the covering path problem on a grid (CPPG) which finds the cost-minimizing path connecting a subset of points in a grid such that each point that needs to be covered is within a predetermined distance of a point from…

In this work, we propose a novel adaptive grid mapping approach, the Adaptive Patched Grid Map, which enables a situational aware grid based perception for autonomous vehicles. Its structure allows a flexible representation of the…