相关论文: PSO-Based Optimal Coverage Path Planning for Surfa…

In terms of 3D imaging speed and system cost, the single-camera system projecting single-frequency patterns is the ideal option among all proposed Fringe Projection Profilometry (FPP) systems. This system necessitates a robust spatial phase…

Coverage path planning is a major application for mobile robots, which requires robots to move along a planned path to cover the entire map. For large-scale tasks, coverage path planning benefits greatly from multiple robots. In this paper,…

Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…

Automotive manufacturing assembly tasks are built upon visual inspections such as scratch identification on machined surfaces, part identification and selection, etc, which guarantee product and process quality. These tasks can be related…

3D geometric shape completion hinges on representation learning and a deep understanding of geometric data. Without profound insights into the three-dimensional nature of the data, this task remains unattainable. Our work addresses this…

In geometry processing, symmetry is a universal type of high-level structural information of 3D models and benefits many geometry processing tasks including shape segmentation, alignment, matching, and completion. Thus it is an important…

Within this paper, the problem of 3D structural inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The proposed algorithm handles varying spatial properties of the…

Robot swarms can be tasked with a variety of automated sensing and inspection applications in aerial, aquatic, and surface environments. In this paper, we study a simplified two-outcome surface inspection task. We task a group of robots to…

In man-made environments such as indoor scenes, when point-based 3D reconstruction fails due to the lack of texture, lines can still be detected and used to support surfaces. We present a novel method for watertight piecewise-planar surface…

Path planning for multiple robots (MRPP) represents a task of finding non-colliding paths for robots through which they can navigate from their initial positions to specified goal positions. The problem is usually modeled using undirected…

3D occupancy-based perception pipeline has significantly advanced autonomous driving by capturing detailed scene descriptions and demonstrating strong generalizability across various object categories and shapes. Current methods…

The inspection-planning problem calls for computing motions for a robot that allow it to inspect a set of points of interest (POIs) while considering plan quality (e.g., plan length). This problem has applications across many domains where…

Sampling-based path planning algorithms suffer from heavy reliance on uniform sampling, which accounts for unreliable and time-consuming performance, especially in complex environments. Recently, neural-network-driven methods predict…

Many optimization algorithms converge to stationary points. When the underlying problem is nonconvex, they may get trapped at local minimizers and occasionally stagnate near saddle points. We propose the Run-and-Inspect Method, which adds…

This paper describes the design, implementation and testing of a suite of algorithms to enable depth constrained autonomous bathymetric (underwater topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth and a…

As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…

Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…

Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…

Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…

In Part 1 of this paper, we introduced a coding-based proactive network protection scheme, named Coded Path Protection (CPP). In CPP, a backup stream of the primary data is encoded with other data streams, resulting in capacity savings. In…