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

In this work we establish a simple yet effective strategy, based on optimal transport theory, for enabling a group of robots to accomplish complex tasks, such as shape formation and assembly. We demonstrate the feasibility of this approach…

In this paper, the problem of dynamical deployment of unmanned aerial vehicles (UAVs) equipped with visible light communication (VLC) capabilities for optimizing the energy efficiency of UAV-enabled networks is studied. In the studied…

We consider a mission framework in which two unmanned vehicles (UVs), a leader and a wingmate, are required to provide cooperative coverage of an environment while being within a short communication range. This framework finds applications…

A plethora of studies ranging from precision physics to quantum information employ ions, highly excited neutral atoms or polar molecules as tools. Motivated by the need for miniaturization, scalability and controllability, the particles are…

Coverage path planning is a well-studied problem in robotics in which a robot must plan a path that passes through every point in a given area repeatedly, usually with a uniform frequency. To address the scenario in which some points need…

This paper presents a hybrid route-path planning model for an Autonomous Underwater Vehicle's task assignment and management while the AUV is operating through the variable littoral waters. Several prioritized tasks distributed in a large…

Reasons for mapping an unknown environment with autonomous robots are wide-ranging, but in practice, they are often overlooked when developing planning strategies. Rapid information gathering and comprehensive structural assessment of…

Diffusion models, as a class of deep generative models, have recently emerged as powerful tools for robot skills by enabling stable training with reliable convergence. In this paper, we present an end-to-end framework for generating long,…

Motivated by the prospect of nano-robots that assist human physiological functions at the nanoscale, we investigate the coating problem in the three-dimensional model for hybrid programmable matter. In this model, a single agent with…

In this work we propose a coverage planning control approach which allows a mobile agent, equipped with a controllable sensor (i.e., a camera) with limited sensing domain (i.e., finite sensing range and angle of view), to cover the surface…

Current state of the art in the field of UAV activation relies solely on human operators for the design and adaptation of the drones' flying routes. Furthermore, this is being done today on an individual level (one vehicle per operators),…

We consider the robust planning of energy-constrained unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), which act as mobile charging stations, to perform long-horizon aerial monitoring missions. More specifically, given a…

The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…

Implicit neural representations have demonstrated significant promise for 3D scene reconstruction. Recent works have extended their applications to autonomous implicit reconstruction through the Next Best View (NBV) based method. However,…

During missions involving radiation exposure, unmanned robotic platforms may embody a valuable tool, especially thanks to their capability of replacing human operators in certain tasks to eliminate the health risks associated with such an…

For typical applications of UAVs in power grid scenarios, we construct the problem as planning UAV trajectories for coverage in cluttered environments. In this paper, we propose an optimal smooth coverage trajectory planning algorithm. The…

Unmanned aerial vehicles (UAVs) are increasingly utilized in global search and rescue efforts, enhancing operational efficiency. In these missions, a coordinated swarm of UAVs is deployed to efficiently cover expansive areas by capturing…

UV unwrapping flattens 3D surfaces to 2D with minimal distortion, often requiring the complex surface to be decomposed into multiple charts. Although extensively studied, existing UV unwrapping methods frequently struggle with AI-generated…

We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…

Optimal recursive decomposition (or DR-planning) is crucial for analyzing, designing, solving or finding realizations of geometric constraint sytems. While the optimal DR-planning problem is NP-hard even for general 2D bar-joint constraint…