相关论文: Multi-UAV Coverage Path Planning for the Inspectio…

Multi-UAV Coverage Path Planning (mCPP) algorithms in popular commercial software typically treat a Region of Interest (RoI) only as a 2D plane, ignoring important3D structure characteristics. This leads to incomplete 3Dreconstructions,…

Modern coverage path planning (CPP) for holonomic UAVs in emergency response must contend with diverse environments where regions of interest (ROIs) often take the form of highly irregular polygons, characterized by asymmetric shapes, dense…

Coverage path planning (CPP) is the problem of finding a path that covers the entire free space of a confined area, with applications ranging from robotic lawn mowing to search-and-rescue. When the environment is unknown, the path needs to…

Path planning methods for autonomous unmanned aerial vehicles (UAVs) are typically designed for one specific type of mission. This work presents a method for autonomous UAV path planning based on deep reinforcement learning (DRL) that can…

We study Multi-Robot Coverage Path Planning (MCPP) on a 4-neighbor 2D grid G, which aims to compute paths for multiple robots to cover all cells of G. Traditional approaches are limited as they first compute coverage trees on a quadrant…

We study graph-based Multi-Robot Coverage Path Planning (MCPP) that aims to compute coverage paths for multiple robots to cover all vertices of a given 2D grid terrain graph $G$. Existing graph-based MCPP algorithms first compute a tree…

The automatic inspection of surface defects is an important task for quality control in the computers, communications, and consumer electronics (3C) industry. Conventional devices for defect inspection (viz. line-scan sensors) have a…

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…

In this article, we consider a multi-agent path planning problem in a stochastic environment. The environment, which can be an urban road network, is represented by a graph where the travel time for selected road segments (impeded edges) is…

The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. This paper presents trajectory planning for three-dimensional autonomous multi-UAV…

The paper presents a novel sample-based algorithm, called C*, for real-time coverage path planning (CPP) of unknown environments. C* is built upon the concept of a Rapidly Covering Graph (RCG), which is incrementally constructed during…

Unmanned Aerial Systems (UAS) have gained significant traction for their application in infrastructure inspections. However, considering the enormous scale and complex nature of infrastructure, automation is essential for improving the…

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,…

Unmanned Aerial Vehicles (UAVs), although adept at aerial surveillance, are often constrained by limited battery capacity. By refueling on slow-moving Unmanned Ground Vehicles (UGVs), their operational endurance can be significantly…

Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous…

In this paper, we present an approach for coverage path planning for a team of an energy-constrained Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). Both the UAV and the UGV have predefined areas that they have to cover.…

This paper addresses the Dynamic UGV-UAV Cooperative Path Planning (DUCPP) problem involving one unmanned ground vehicle (UGV) assisted by one or more unmanned aerial vehicles (UAVs) operating on an uncertain road network with potentially…

Multi-robot systems are widely used for coverage tasks that require efficient coordination across large environments. In Multi-Robot Coverage Path Planning (MCPP), the objective is typically to minimize the makespan by generating…

Informative path planning (IPP) is used to design paths for robotic sensor platforms to extract the best/maximum possible information about a quantity of interest while operating under a set of constraints, such as the dynamic feasibility…

The shortage of workforce and increasing cost of maintenance has forced many farm industrialists to shift towards automated and mechanized approaches. The key component for autonomous systems is the path planning techniques used. Coverage…