相关论文: Computationally-Efficient Roadmap-based Inspection…

This letter attempts to design a surveillance scheme by adopting an active reconfigurable intelligent surface (RIS). Different from the conventional passive RIS, the active RIS could not only adjust the phase shift but also amplify the…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Using underwater robots instead of humans for the inspection of coastal piers can enhance efficiency while reducing risks. A key challenge in performing these tasks lies in achieving efficient and rapid path planning within complex…

In this paper, we consider a reconfigurable intelligent surface (RIS) and model it by using multiport network theory. We first compare the representation of RIS by using $Z$-parameters and $S$-parameters, by proving their equivalence and…

Autonomous exploration is an essential capability for mobile robots, as the majority of their applications require the ability to efficiently collect information about their surroundings. In the literature, there are several approaches,…

Reconfigurable intelligent surfaces (RISs) modify signal reflections to enhance wireless communication capabilities. Classical RIS phase optimization is highly non convex and challenging in dynamic environments due to high interference and…

Real-time planning under uncertainty is critical for robots operating in complex dynamic environments. Consider, for example, an autonomous robot vehicle driving in dense, unregulated urban traffic of cars, motorcycles, buses, etc. The…

This article introduces a novel heuristic for Task and Motion Planning (TAMP) named Interpretable Responsibility Sharing (IRS), which enhances planning efficiency in domestic robots by leveraging human-constructed environments and inherent…

Planning paths that maximize information gain for robotic platforms has wide-ranging applications and significant potential impact. To effectively adapt to real-time data collection, informative path planning must be computed online and be…

Optimal path planning is the problem of finding a valid sequence of states between a start and goal that optimizes an objective. Informed path planning algorithms order their search with problem-specific knowledge expressed as heuristics…

This paper describes a revision of the classic Lazy Probabilistic Roadmaps algorithm (Lazy PRM), that results from pairing PRM and a novel Branch-and-Cut (BC) algorithm. Cuts are dynamically generated constraints that are imposed on minimum…

Most public facilities in the European countries, including France, Germany, and the UK, were built during the reconstruction projects between 1950 and 1980. Owing to the deteriorating state of such vital infrastructure has become…

Multi-robot path finding in dynamic environments is a highly challenging classic problem. In the movement process, robots need to avoid collisions with other moving robots while minimizing their travel distance. Previous methods for this…

Surveillance and exploration of large environments is a tedious task. In spaces with limited environmental cues, random-like search is an effective approach as it allows the robot to perform online coverage of environments using simple…

Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window Approach, Model Predictive Control, and more recently, Control…

Graphs of Convex Sets (GCS) is a recent method for synthesizing smooth trajectories by decomposing the planning space into convex sets, forming a graph to encode the adjacency relationships within the decomposition, and then simultaneously…

Task planning for mobile robots often assumes full environment knowledge and so popular approaches, like planning via the PDDL, cannot plan when the locations of task-critical objects are unknown. Recent learning-driven object search…

Reconfigurable intelligent surface (RIS) is an emerging technique employing metasurface to reflect the signal from the source node to the destination node without consuming any energy. Not only the spectral efficiency but also the energy…

An innovative evolutionary method for the dynamic control of reconfigurable intelligent surfaces (RISs) is proposed. It leverages, on the one hand, on the exploration capabilities of evolutionary strategies and their effectiveness in…

Efficient robotic exploration of unknown, sensor limited, global-information-deficient environments poses unique challenges to path planning algorithms. In these difficult environments, no deterministic guarantees on path completion and…