相关论文: Minimal Exposure Dubins Orienteering Problem

We present a method for guidance of a Dubins-like vehicle with saturated control towards a target in a steady simply connected maze-like environment. The vehicle always has access to to the target relative bearing angle (even if the target…

Object detection for robot guidance is a crucial mission for autonomous robots, which has provoked extensive attention for researchers. However, the changing view of robot movement and limited available data hinder the research in this…

This work views the multi-agent system and its surrounding environment as a co-evolving system, where the behavior of one affects the other. The goal is to take both agent actions and environment configurations as decision variables, and…

Obstacle avoidance is one of the essential and indispensable functions for autonomous mobile robots. Most of the existing solutions are typically based on single condition constraint and cannot incorporate sensor data in a real-time manner,…

The main feature of the Dynamic Multi-objective Optimization Problems (DMOPs) is that optimization objective functions will change with times or environments. One of the promising approaches for solving the DMOPs is reusing the obtained…

This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…

The increasing use of electric vehicles (EVs) requires efficient route planning solutions that take into account the limited range of EVs and the associated charging times, as well as the different types of charging stations. In this work,…

We present the Limited-range Online Routing Problem (LORP), which involves a team of Unmanned Aerial Vehicles (UAVs) with limited communication range that must autonomously coordinate to service task requests. We first show a general…

Expected-time mobile search (ETS) is a fundamental robotics task where a mobile sensor navigates an environment to minimize the expected time required to locate a hidden object. Global route optimization for ETS in static 2D continuous…

Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…

The Dubins path problem had enormous applications in path planning for autonomous vehicles. In this paper, we consider a generalization of the Dubins path planning problem, which is to find a shortest Dubins path that starts from a given…

Navigation in an unknown environment consists of multiple separable subtasks, such as collecting information about the surroundings and navigating to the current goal. In the case of pure visual navigation, all these subtasks need to…

A reactive obstacle avoidance method for mobile manipulators is presented. The objectives of the developed algorithm are twofold. The first one is to find a trajectory in the configuration space of a mobile manipulator so as to follow a…

The increasing use of autonomous robot systems in hazardous environments underscores the need for efficient search and rescue operations. Despite significant advancements, existing literature on object search often falls short in overcoming…

Over the last decade, developments in unmanned aerial vehicles (UAVs) has greatly increased, and they are being used in many fields including surveillance, crisis management or automated mission planning. This last field implies the search…

In services such as retail audits and urban infrastructure monitoring, a platform dispatches rewarded, location-based micro-tasks to mobile workers traveling along personal origin-destination (OD) trips under hard time budgets. As requests…

Dubins tours represent a solution of the Dubins Traveling Salesman Problem (DTSP) that is a variant of the optimization routing problem to determine a curvature-constrained shortest path to visit a set of locations such that the path is…

We address the problem of controlling a stochastic version of a Dubins vehicle such that the probability of satisfying a temporal logic specification over a set of properties at the regions in a partitioned environment is maximized. We…

This paper aims to address distributed optimization problems over directed and time-varying networks, where the global objective function consists of a sum of locally accessible convex objective functions subject to a feasible set…

Due to the vastly different energy consumption between up-slope and down-slope, a path with the shortest length on a complex off-road terrain environment (2.5D map) is not always the path with the least energy consumption. For any…