相关论文: Spiral Complete Coverage Path Planning Based on Co…
This study presents a spiral-based complete coverage strategy for ball-end milling on freeform surfaces, utilizing conformal slit mapping to generate milling trajectories that are more compact, smoother, and evenly distributed when…
Multiply connected freeform surface features are widely encountered in industrial components, where toolpath generation often suffers from discontinuities, sharp turns, non-uniform scallop heights, and incomplete boundary coverage. This…
This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the prior 2D navigation map via SLAM to generate a sequence of…
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…
Applications involving autonomous navigation and planning of mobile agents can benefit greatly by employing online Simultaneous Localization and Mapping (SLAM) techniques, however, their proper implementation still warrants an efficient…
We introduce the Multi-Robot Connected Fermat Spiral (MCFS), a novel algorithmic framework for Multi-Robot Coverage Path Planning (MCPP) that adapts Connected Fermat Spiral (CFS) from the computer graphics community to multi-robot…
Over-break and under-break excavation is very common in practical tunnel engineering with asymmetrical cavity contour, while existing conformal mapping schemes of complex variable method generally focus on tunnelling with theoretical and…
Within the context of optimising the logistics in agriculture this paper relates to optimal in-field routing for full and partial field coverage with arbitrary non-convex fields and multiple obstacle areas. It is distinguished between nine…
A method is proposed to obtain full-domain spatial modes based on Proper Orthogonal Decomposition (POD) of Particle Image Velocimetry (PIV) measurements performed at different (overlapping) spatial locations. This situation occurs when…
Coverage path planning (CPP) is the task of computing an optimal path within a region to completely scan or survey an area of interest using one or multiple mobile robots. Robots equipped with sensors and cameras can collect vast amounts of…
Conventional linear crop layouts, optimised for tractors, hinder robotic navigation with tight turns, long travel distances, and perceptual aliasing. We propose a robot-centric square spiral layout with a central tramline, enabling simpler…
Modern coverage path planning (CPP) for holonomic UAVs in emergency response must contend with diverse environments where regions of interest (ROIs) often take the form of highly irregular polygons, characterized by asymmetric shapes, dense…
This article addresses the challenge of UAV survey coverage path planning for areas that are complex concave polygons, containing exclusion zones or obstacles. While standard drone path planners typically generate coverage paths for simple…
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 presents a path planning method for partial field coverage. Therefore, a specific path planning pattern is proposed. The notion is that lighter machinery with smaller storage tanks can alleviate soil compaction because of a…
The automatic inspection of surface defects is an important task for quality control in the computers, communications, and consumer electronics (3C) industry. Conventional devices for defect inspection (viz. line-scan sensors) have a…
For large-scale tasks, coverage path planning (CPP) can benefit greatly from multiple robots. In this paper, we present an efficient algorithm MSTC* for multi-robot coverage path planning (mCPP) based on spiral spanning tree coverage…
The use of regional coverage satellite constellations is on the rise, urging the need for an optimal constellation design method for complex regional coverage. Traditional constellations are often designed for continuous global coverage,…
Image-guided depth completion aims at generating a dense depth map from sparse LiDAR data and RGB image. Recent methods have shown promising performance by reformulating it as a classification problem with two sub-tasks: depth…
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…