相关论文: Spiral Complete Coverage Path Planning Based on Co…
Robot Coverage Path planning (i.e., provide full coverage of a given domain by one or multiple robots) is a classical problem in the field of robotics and motion planning. The goal is to provide nearly full coverage while also minimize…
Thanks to the rapid evolvement of robotic technologies, robot mowing is emerging to liberate humans from the tedious and time-consuming landscape work. Traditionally, robot mowing is perceived as a "Coverage Path Planning" problem, with a…
The central problem of strip theory is the calculation of potential flowaround 2D sections. One particular method of solutions to this problem is conformal mapping of the body section to the unit circle over which a solution of potential…
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…
Structural dimensional inspection is vital for the process monitoring, quality control, and fault diagnosis in the mass production of auto bodies. Comparing with the non-contact measurement, the high-precision five-axis measuring machine…
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…
We consider path planning for a rigid spatial robot moving amidst polyhedral obstacles. Our robot is either a rod or a ring. Being axially-symmetric, their configuration space is R^3 x S^2 with 5 degrees of freedom (DOF). Correct, complete…
The double coverage problem focuses on determining efficient, collision-free routes for multiple robots to simultaneously cover linear features (e.g., surface cracks or road routes) and survey areas (e.g., parking lots or local regions) in…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
Autonomous sailboats are well suited for long-duration ocean observation due to their wind-driven endurance. However, their performance is highly anisotropic and strongly influenced by inhomogeneous and time-varying wind and current fields,…
Coverage motion planning is essential to a wide range of robotic tasks. Unlike conventional motion planning problems, which reason over temporal sequences of states, coverage motion planning requires reasoning over the spatial distribution…
Mapping expansive regions is an arduous and often times incomplete when performed by a single agent. In this paper we illustrate an extension of \texttt{Full SLAM} \cite{Dellaert06ijrr} and \cite{dong}, which ensures smooth maps with…
Path planning for wheeled mobile robots is a critical component in the field of automation and intelligent transportation systems. Car-like vehicles, which have non-holonomic constraints on their movement capability impose additional…
In this thesis, advanced design technique in sliding mode control (SMC) is presented with focus on PID (Proportional-Integral-Derivative) type Sliding surfaces based Sliding mode control with improved power rate exponential reaching law for…
Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…
Coverage Path Planning (CPP) is vital in precision agriculture to improve efficiency and resource utilization. In irregular and dispersed plantations, traditional grid-based CPP often causes redundant coverage over non-vegetated areas,…
In recent decades, global path planning of robot has seen significant advancements. Both heuristic search-based methods and probability sampling-based methods have shown capabilities to find feasible solutions in complex scenarios. However,…
This paper presents a novel partial differential equation (PDE)-based framework for controlling an ensemble of robots, which have limited sensing and actuation capabilities and exhibit stochastic behaviors, to perform mapping and coverage…
Streamline-based quad meshing algorithms use smooth cross fields to partition surfaces into quadrilateral regions by tracing cross field separatrices. In practice, re-entrant corners and misalignment of singularities lead to small regions…
Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…