相关论文: Fields2Cover: An open-source coverage path plannin…

The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…

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…

Up until now, path planning for unmanned aerial vehicles (UAVs) has mainly been focused on the optimisation towards energy efficiency. However, to operate UAVs safely, wireless coverage is of utmost importance. Currently, deployed cellular…

Autonomous agricultural vehicles (AAVs), including field robots and autonomous tractors, are becoming essential in modern farming by improving efficiency and reducing labor costs. A critical task in AAV operations is headland turning…

Planning module is an essential component of intelligent vehicle study. In this paper, we address the risk-aware planning problem of UGVs through a global-local planning framework which seamlessly integrates risk assessment methods. In…

This paper demonstrates the integration model-based design approaches or vehicle control, with validation in a freely available open-source simulator. Continued interest in autonomous vehicles and their deployment is driven by the potential…

Autonomous navigation is a pre-requisite for field robots to carry out precision agriculture tasks. Typically, a robot has to navigate through a whole crop field several times during a season for monitoring the plants, for applying…

An algorithm for 3D terrain-following area coverage path planning is presented. Multiple adjacent paths are generated that are (i) locally apart from each other by a distance equal to the working width of a machinery, while (ii)…

Autonomous Driving (AD) systems demand the high levels of safety assurance. Despite significant advancements in AD demonstrated on open-source benchmarks like Longest6 and Bench2Drive, existing datasets still lack regulatory-compliant…

This paper provides the description of a novel, multi-purpose spline library. In accordance with the increasingly diverse modes of usage of splines, it is multi-purpose in the sense that it supports geometry representation, finite element…

Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…

We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…

We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some…

The paper presents Maximal Covariance Backward Reachable Trees (MAXCOVAR BRT), which is a multi-query algorithm for planning of dynamic systems under stochastic motion uncertainty and constraints on the control input with explicit coverage…

The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…

Line coverage is the task of servicing a given set of one-dimensional features in an environment. It is important for the inspection of linear infrastructure such as road networks, power lines, and oil and gas pipelines. This paper…

There exist a wide range of options for field robotics research using ground and aerial mobile robots, but there are comparatively few robust and research-ready uncrewed surface vessels (USVs). This workshop paper starts with a snapshot of…

Cellular networks are promising to support effective wireless communications for unmanned aerial vehicles (UAVs), which will help to enable various long-range UAV applications. However, these networks are optimized for terrestrial users,…

Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…

Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…