相关论文: Optimized Coverage Planning for UV Surface Disinfe…

This paper addresses the sweep coverage problem of multi-agent systems in uncertain regions. A new formulation of distributed sweep coverage is proposed to cooperatively complete the workload in the uncertain region. Specifically, each…

In recent years, there has been a growing interest in using networks of Unmanned Aerial Vehicles (UAV) that collectively perform complex tasks for diverse applications. An important challenge in realizing UAV networks is the need for a…

Effective risk monitoring in dynamic environments such as disaster zones requires an adaptive exploration strategy to detect hidden threats. We propose a bi-level unmanned aerial vehicle (UAV) monitoring strategy that efficiently integrates…

As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…

Radiation treatment planning involves optimization over a large number of voxels, many of which carry limited information about the clinical problem. We propose an approach to reduce the large optimization problem by only using a…

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…

Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…

In this paper, we propose a coverage control system for a multi-robot team with heterogeneous capabilities to patrol or monitor a bounded environment. The capability could be defined as any criterion of robots like remaining power or mobile…

Photovoltaic (PV) panels are becoming increasingly widespread in the domain of renewable energy, and thus, small efficiency gains can have massive effects. Anti-reflective and self-cleaning coatings enhance panel performance but degrade…

This paper presents a communication and energy-aware multi-UAV Coverage Path Planning (mCPP) method for scenarios requiring continuous inter-UAV communication, such as cooperative search and rescue and surveillance missions. Unlike existing…

Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…

In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…

In this paper, we address the problem of finding the optimal trajectory for an unmanned aerial vehicle (UAV) for improving the wireless coverage of a terrestrial cellular network. In particular, we consider a UAV that is tasked to travel…

Accumulation of dust on the surface of solar panels reduces the amount of radiation reaching it. This leads to loss in generated electric power and formation of hotspots which would permanently damage the solar panel. This project aims at…

We propose an informative path planning (IPP) algorithm for active classification using an unmanned aerial vehicle (UAV), focusing on weed detection in precision agriculture. We model the presence of weeds on farmland using an occupancy…

Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…

In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…

An indoor robot navigation system is investigated, where an intelligent reflecting surface (IRS) is employed to enhance the connectivity between the access point (AP) and a mobile robotic user. The considered system is optimized for…

Unmanned aerial vehicles (UAVs) can be used as aerial wireless base stations when cellular networks go down. Prior studies on UAV-based wireless coverage typically consider an Air-to-Ground path loss model, which assumes that the users are…

We study the iterative refinement of path planning for multiple robots, known as multi-agent pathfinding (MAPF). Given a graph, agents, their initial locations, and destinations, a solution of MAPF is a set of paths without collisions.…