相关论文: Coverage Hole Elimination System in Industrial Env…
Autonomous driving is the key technology of intelligent logistics in Industrial Internet of Things (IIoT). In autonomous driving, the appearance of incomplete point clouds losing geometric and semantic information is inevitable owing to…
The transmission grid is often comprised of several control areas that are connected by multiple tie lines in a mesh structure for reliability. It is also well-known that line failures can propagate non-locally and redundancy can exacerbate…
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 paper we address the mine countermeasures (MCM) search problem for an autonomous underwater vehicle (AUV) surveying the seabed using a side-looking sonar. We propose a coverage path planning method that adapts the AUV track spacing…
Ensuring the functional safety of Autonomous Vehicles (AVs) requires motion planning modules that not only operate within strict real-time constraints but also maintain controllability in case of system faults. Existing safeguarding…
The cable-based arrestment systems are integral to the launch and recovery of aircraft onboard carriers and on expeditionary land-based installations. These modern arrestment systems rely on various mechanisms to absorb energy from an…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can lead to potentially dangerous situations. To avoid intolerable sensor drifts in the presence of GPS spoofing attacks, we propose a safety…
This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision…
This paper proposes a framework for 3D obstacle avoidance in the presence of partial observability of environment obstacles. The method focuses on the utility of the Artificial Potential Function (APF) controller in a practical setting…
Algorithmic approaches to exhaustive coverage have application in video games, enabling automatic game level exploration. Current designs use simple heuristics that frequently result in poor performance or exhibit unnatural behaviour. In…
Autonomous navigation in partially observable environments requires agents to reason beyond immediate sensor input, exploit occlusion, and ensure safety while progressing toward a goal. These challenges arise in many robotics domains, from…
Existing curved-layer-based process planning methods for multi-axis manufacturing address collisions only indirectly and generate toolpaths in a post-processing step, leaving toolpath geometry uncontrolled during optimization. We present an…
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…
This paper introduces inspection through GLASS, a Geometric Look-Angle Shaping Strategy for enclosed regions using unmanned aerial vehicles. In doing so, the vehicles guidance command is constructed through a bounded, geometry-consistent…
Planning and control for autonomous vehicles usually are hierarchical separated. However, increasing performance demands and operating in highly dynamic environments requires an frequent re-evaluation of the planning and tight integration…
Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…
Unmanned aerial vehicles (UAVs) have recently found abundant applications in the public and civil domains. To ensure reliable control and navigation, connecting UAVs to controllers via existing cellular network infrastructure, i.e., ground…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
Multi-Agent Path Finding (MAPF) has gained significant attention, with most research focusing on minimizing collisions and travel time. This paper also considers energy consumption in the path planning of automated guided vehicles (AGVs).…