相关论文: Simulating Coverage Path Planning with Roomba

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

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…

In the tasks of multi-robot collaborative area search, we propose the unified approach for simultaneous mapping for sensing more targets (exploration) while searching and locating the targets (coverage). Specifically, we implement a…

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…

For massive large-scale tasks, a multi-robot system (MRS) can effectively improve efficiency by utilizing each robot's different capabilities, mobility, and functionality. In this paper, we focus on the multi-robot coverage path planning…

We present a biologically inspired approach for path planning with dynamic obstacle avoidance. Path planning is performed in a condensed configuration space of a robot generated by self-organizing neural networks (SONN). The robot itself…

The line coverage problem involves finding efficient routes for the coverage of linear features by one or more resource-constrained robots. Linear features model environments like road networks, power lines, and oil and gas pipelines. Two…

The traveling salesman problem is a fundamental combinatorial optimization problem with strong exact algorithms. However, as problems scale up, these exact algorithms fail to provide a solution in a reasonable time. To resolve this, current…

In this study, reinforcement learning was applied to learning two-dimensional path planning including obstacle avoidance by unmanned aerial vehicle (UAV) in an indoor environment. The task assigned to the UAV was to reach the goal position…

This paper presents a novel framework for planning paths in maps containing unknown spaces, such as from occlusions. Our approach takes as input a semantically-annotated point cloud, and leverages an image inpainting neural network to…

Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the…

This study presents a new methodology for learning-based motion planning for autonomous exploration using aerial robots. Through the reinforcement learning method of learning through trial and error, the action policy is derived that can…

This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks,…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…

We consider the problem of time-limited robotic exploration in previously unseen environments where exploration is limited by a predefined amount of time. We propose a novel exploration approach using learning-augmented model-based…

In this paper we investigate the problem of using a UAV to provide current map information of the environment in front of a moving ground vehicle. We propose a simple coverage plan called a conformal lawn mower plan that enables a UAV to…

Autonomous robotic wiping is an important task in various industries, ranging from industrial manufacturing to sanitization in healthcare. Deep reinforcement learning (Deep RL) has emerged as a promising algorithm, however, it often suffers…

In recent years, advancements have been made towards the goal of using chaotic coverage path planners for autonomous search and traversal of spaces with limited environmental cues. However, the state of this field is still in its infancy as…

The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten…