相关论文: Offline Grid-Based Coverage path planning for guar…
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…
In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
Voxel grids are a minimal and efficient environment representation that is used for robot motion planning in numerous tasks. Many state-of-the-art planning algorithms use voxel grids composed of free, occupied and unknown voxels. In this…
Visibility plays an important role for decision making in cluttered, uncertain environments. This paper considers the problem of identifying optimal hiding spots for an agent against line-of-sight detection by an adversary whose location is…
Solving complex planning problems has been a long-standing challenge in computer science. Learning-based subgoal search methods have shown promise in tackling these problems, but they often suffer from a lack of completeness guarantees,…
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…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
This paper studies real-world road networks from an algorithmic perspective, focusing on empirical studies that yield useful properties of road networks that can be exploited in the design of fast algorithms that deal with geographic data.…
We are interested in the problem of guarding simple orthogonal polygons with the minimum number of $ r $-guards. The interior point $ p $ belongs an orthogonal polygon $ P $ is visible from $ r $-guard $ g $, if the minimum area rectangle…
We consider exploration of finite 2D square grid by a metamorphic robotic system consisting of anonymous oblivious modules. The number of possible shapes of a metamorphic robotic system grows as the number of modules increases. The shape of…
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…
There exist many orthogonal graph drawing algorithms that minimize edge crossings or edge bends, however they produce unsatisfactory drawings in many practical cases. In this paper we present a grid-based algorithm for drawing orthogonal…
Eternal vertex cover problem is a variant of the classical vertex cover problem modeled as a two player attacker-defender game. Computing eternal vertex cover number of graphs is known to be NP-hard in general and the complexity status of…
In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…
The majority of current approaches in autonomous driving rely on High-Definition (HD) maps which detail the road geometry and surrounding area. Yet, this reliance is one of the obstacles to mass deployment of autonomous vehicles due to poor…
Folding is emerging as a promising manufacturing process to transform flat materials into functional structures, offering efficiency by reducing the need for welding, gluing, and molding, while minimizing waste and enabling automation.…
In the `Covering' pursuit game on a graph, a robber and a set of cops play alternately, with the cops each moving to an adjacent vertex (or not moving) and the robber moving to a vertex at distance at most 2 from his current vertex. The aim…
In this work, we present a geometry-based grasping algorithm that is capable of efficiently generating both top and side grasps for unknown objects, using a single view RGB-D camera, and of selecting the most promising one. We demonstrate…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…