相关论文: Securing Pathways with Orthogonal Robots
This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…
This paper presents a novel obstacle avoidance system for road robots equipped with RGB-D sensor that captures scenes of its way forward. The purpose of the system is to have road robots move around autonomously and constantly without any…
Practical global path planning is critical for commercializing cleaning robots working in semi-structured environments. In the literature, global path planning methods for free space usually focus on path length and neglect the traffic rule…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In…
This paper gives an introduction to the problem of mapping simple polygons with autonomous agents. We focus on minimalistic agents that move from vertex to vertex along straight lines inside a polygon, using their sensors to gather local…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
For a set of robots (or agents) moving in a graph, two properties are highly desirable: confidentiality (i.e., a message between two agents must not pass through any intermediate agent) and efficiency (i.e., messages are delivered through…
This article aims to develop novel path planning algorithms required to deploy multiple unmanned vehicles in Global Positioning System (GPS) denied environments. Unmanned vehicles (ground or aerial) are ideal platforms for executing…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
The current research interest in autonomous driving is growing at a rapid pace, attracting great investments from both the academic and corporate sectors. In order for vehicles to be fully autonomous, it is imperative that the driver…
In this paper, we present an innovative technique for the path planning of flying robots in a 3D environment in Rough Mereology terms. The main goal was to construct the algorithm that would generate the mereological potential fields in…
In this work, we carry out structural and algorithmic studies of a problem of barrier forming: selecting theminimum number of straight line segments (barriers) that separate several sets of mutually disjoint objects in the plane. The…
Integrating mobile robots into human society involves the fundamental problem of navigation in crowds. This problem has been studied by considering the behaviour of humans at the level of individuals, but this representation limits the…
This research paper addresses the challenges of exploration and navigation in unknown environments from an evolutionary swarm robotics perspective. Path formation plays a crucial role in enabling cooperative swarm robots to accomplish these…
Let an orthogonal polyhedron be the union of a finite set of boxes in $\mathbb R^3$ (i.e., cuboids with edges parallel to the coordinate axes), whose surface is a connected 2-manifold. We study the NP-complete problem of guarding a…
We study the Cooperative Guarding problem for polygons with holes in a mobile multi-agents setting. Given a set of agents, initially deployed at a point in a polygon with $n$ vertices and $h$ holes, we require the agents to collaboratively…
Collaborative transportation, where multiple robots collaboratively transport a payload, has garnered significant attention in recent years. While ensuring safe and high-performance inter-robot collaboration is critical for effective task…
Consider a sliding camera that travels back and forth along an orthogonal line segment $s$ inside an orthogonal polygon $P$ with $n$ vertices. The camera can see a point $p$ inside $P$ if and only if there exists a line segment containing…
Tethered robots play a pivotal role in specialized environments such as disaster response and underground exploration, where their stable power supply and reliable communication offer unparalleled advantages. However, their motion planning…