相关论文: Securing Pathways with Orthogonal Robots

We consider the problem of walking in an unknown street, for a robot that has a minimal sensing capability. The robot is equipped with a sensor that only detects the discontinuities in depth information (gaps) and can locate the target…

This report overviews a set of recent contributions in the field of path planning that were developed to enable the realization of the autonomous aerial robotic worker for inspection operations. The specific algorithmic contributions…

To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for both planning (to ensure that plans maintain acceptable levels…

The vast number of existing IP cameras in current road networks is an opportunity to take advantage of the captured data and analyze the video and detect any significant events. For this purpose, it is necessary to detect moving vehicles, a…

Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…

The steady development of motor vehicle technology will enable cars of the near future to assume an ever increasing role in the decision making and control of the vehicle itself. In the foreseeable future, cars will have the ability to…

Provable safety is one of the most critical challenges in automated driving. The behavior of numerous traffic participants in a scene cannot be predicted reliably due to complex interdependencies and the indiscriminate behavior of humans.…

Efficient routing of mobile robot fleets is crucial in intralogistics, where delays and deadlocks can substantially reduce system throughput. Roadmap design, specifying feasible transport routes, directly affects fleet coordination and…

It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…

While current systems for autonomous robot navigation can produce safe and efficient motion plans in static environments, they usually generate suboptimal behaviors when multiple robots must navigate together in confined spaces. For…

We describe a polynomial time algorithm that takes as input a polygon with axis-parallel sides but irrational vertex coordinates, and outputs a set of as few rectangles as possible into which it can be dissected by axis-parallel cuts and…

In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…

Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or…

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…

If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…

In this paper, we investigate the problem of planning an optimal infinite path for a single robot to achieve a linear temporal logic (LTL) task with security guarantee. We assume that the external behavior of the robot, specified by an…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

For a polygon P with n vertices, the vertex guarding problem asks for the minimum subset G of P's vertices such that every point in P is seen by at least one point in G. This problem is NP-complete and APX-hard. The first approximation…

Motion path planning is an intrinsically geometric problem which is central for design of robot systems. Since the early years of AI, robotics together with computer vision have been the areas of computer science that drove its development.…

An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…