相关论文: A Multi-robot Coverage Path Planning Algorithm Bas…

Mobile robots hold great promise in reducing the need for humans to perform jobs such as vacuuming, seeding,harvesting, painting, search and rescue, and inspection. In practice, these tasks must often be done without an exact map of the…

In this paper, we consider the problem of Multi-Robot Path Planning (MRPP) in continuous space. The difficulty of the problem arises from the extremely large search space caused by the combinatorial nature of the problem and the continuous…

Maritime surveillance missions, such as search and rescue and environmental monitoring, rely on the efficient allocation of sensing assets over vast and geometrically complex areas. Traditional Coverage Path Planning (CPP) approaches depend…

In this paper, we propose a method to replan coverage paths for a robot operating in an environment with initially unknown static obstacles. Existing coverage approaches reduce coverage time by covering along the minimum number of coverage…

The use of an efficient coverage planning method is key for autonomous navigation in agricultural environments, where a robot must cover large areas of crops. This paper generally reviews the current state of the art of coverage path…

We propose a generic multi-robot planning mechanism that combines an optimal task planner and an optimal path planner to provide a scalable solution for complex multi-robot planning problems. The Integrated planner, through the interaction…

Coverage Path Planning (CPP) aims at finding an optimal path that covers the whole given space. Due to the NP-hard nature, CPP remains a challenging problem. Bio-inspired algorithms such as Ant Colony Optimisation (ACO) have been exploited…

An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…

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…

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…

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…

Multi-robot Motion Planning (MRMP) is an active research field which has gained attention over the years. MRMP has significant roles to improve the efficiency and reliability of multi-robot system in a wide range of applications from…

This paper tackles the problem of planning minimum-energy coverage paths for multiple UAVs. The addressed Multi-UAV Coverage Path Planning (mCPP) is a crucial problem for many UAV applications such as inspection and aerial survey. However,…

For rapid growth in technology and automation, human tasks are being taken over by robots as robots have proven to be better with both speed and precision. One of the major and widespread usages of these robots is in the industrial…

Path planning is a crucial algorithmic approach for designing robot behaviors. Sampling-based approaches, like rapidly exploring random trees (RRTs) or probabilistic roadmaps, are prominent algorithmic solutions for path planning problems.…

We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…

Multi-Agent Path Finding (MAPF) is a long-standing problem in Robotics and Artificial Intelligence in which one needs to find a set of collision-free paths for a group of mobile agents (robots) operating in the shared workspace. Due to its…

Mobile robots often have limited battery life and need to recharge periodically. This paper presents an RRT- based path-planning algorithm that addresses battery power management. A path is generated continuously from the robot's current…

We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constraints, under which MPP problems have feasibility guarantee.…

Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…