相关论文: Spiral Complete Coverage Path Planning Based on Co…

A mechanism to derive non-repetitive coverage path solutions with a proven minimal number of discontinuities is proposed in this work, with the aim to avoid unnecessary, costly end effector lift-offs for manipulators. The problem is…

On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…

We present a simultaneous sensor-based inspection and footprint coverage (SIFC) planning and control design with applications to autonomous robotic crack mapping and filling. The main challenge of the SIFC problem lies in the coupling of…

Autonomous exploration in unknown environments requires estimating the information gain of an action to guide planning decisions. While prior approaches often compute information gain at discrete waypoints, pathwise integration offers a…

This paper describes the adaptation of a well-scaling parallel algorithm for computing Morse-Smale segmentations based on path compression to a distributed computational setting. Additionally, we extend the algorithm to efficiently compute…

In order to perform isogeometric analysis with increased smoothness on complex domains, trimming, variational coupling or unstructured spline methods can be used. The latter two classes of methods require a multi-patch segmentation of the…

We suggest an approximate method of finding a conformal mapping of an annulus onto an arbitrary bounded doubly connected polygonal domain. The method is based on the parametric Loewner--Komatu method. We consider smooth one parameter…

This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…

We study Multi-Robot Coverage Path Planning (MCPP) on a 4-neighbor 2D grid G, which aims to compute paths for multiple robots to cover all cells of G. Traditional approaches are limited as they first compute coverage trees on a quadrant…

Uncertainty estimation is critical in high-stakes machine learning applications. One effective way to estimate uncertainty is conformal prediction, which can provide predictive inference with statistical coverage guarantees. We present a…

Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…

In this paper, we tackle the problem of planning an optimal coverage path for a robot operating indoors. Many existing approaches attempt to discourage turns in the path by covering the environment along the least number of coverage lines,…

This paper introduces a novel automatic coverage path planning algorithm for bathymetry surveying with unmanned surface vehicles. The detection range of the mapping sensor employed - a multibeam echo sounder - is heavily influenced by local…

We present an online centralized path planning algorithm to cover a large, complex, unknown workspace with multiple homogeneous mobile robots. Our algorithm is horizon-based, synchronous, and on-demand. The recently proposed horizon-based…

Multi-view Synthetic Aperture Radar (SAR) imaging can effectively enhance the performance of tasks such as automatic target recognition and image information fusion. Unmanned aerial vehicles (UAVs) have the advantages of flexible deployment…

In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path planning with local geometric awareness to enable collision-free…

Coverage path planning is a well-studied problem in robotics in which a robot must plan a path that passes through every point in a given area repeatedly, usually with a uniform frequency. To address the scenario in which some points need…

The paper presents a strategy for robotic exploration problem using Space-Filling curves (SFC). The strategy plans a path that avoids unknown obstacles while ensuring complete coverage of the free space in region of interest. The region of…

Recently, centralized receding horizon online multi-robot coverage path planning algorithms have shown remarkable scalability in thoroughly exploring large, complex, unknown workspaces with many robots. In a horizon, the path planning and…

Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…