相关论文: Vehicle Painting Robot Path Planning Using Hierarc…

The subpath planning problem is a branch of the path planning problem, which has widespread applications in automated manufacturing process as well as vehicle and robot navigation. This problem is to find the shortest path or tour subject…

In this work, we investigate whether humans can manually generate high-quality robot paths for optical inspections. Typically, automated algorithms are used to solve the inspection planning problem. The use of automated algorithms implies…

The Unmanned Aerial Vehicle (UAV) path planning problem is a complex optimization problem in the field of robotics. In this paper, we investigate the possible utilization of this problem in benchmarking global optimization methods. We…

Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…

The steady development of motor vehicle technology will enable cars of the near future to assume an ever increasing role in the decision making and control of the vehicle itself. In the foreseeable future, cars will have the ability to…

This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…

Exterior painting of high-rise buildings is a challenging task. In our country, as well as in other countries of the world, this task is accomplished manually, which is risky and life-threatening for the workers. Researchers and industry…

Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existing TAMP approaches often struggle to scale effectively for…

Efficient path planning for autonomous mobile robots is a critical problem across numerous domains, where optimizing both time and energy consumption is paramount. This paper introduces a novel methodology that considers the dynamic…

We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool-paths of which are usually complex and have a large number of discrete-time constraints as waypoints. Kinematic redundancy also…

Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…

The problem of real-time control and optimization of components' routing in discrete manufacturing plants, where distinct items must undergo a sequence of jobs, is considered. This problem features a large number of discrete control inputs…

Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…

We study the iterative refinement of path planning for multiple robots, known as multi-agent pathfinding (MAPF). Given a graph, agents, their initial locations, and destinations, a solution of MAPF is a set of paths without collisions.…

The Vehicle Routing Problem (VRP) is a complex optimization problem with numerous real-world applications, mostly solved using metaheuristic algorithms due to its $\mathcal{NP}$-Hard nature. Traditionally, these metaheuristics rely on…

In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and…

Robotic reproduction of oil paintings using soft brushes and pigments requires force-sensitive control of deformable tools, prediction of brushstroke effects, and multi-step stroke planning, often without human step-by-step demonstrations…

In this paper, a risk map-based path planning algorithm is introduced for autonomous vehicles. Multivariate B-splines are implemented to generate a risk map, which measures the risk of colliding with different objects. In the following…

This paper presents a new method to generate tool paths for machining freeform surfaces represented either as parametric surfaces or as triangular meshes. This method allows for the optimal tradeoff between the preferred feed direction…

As customer demands become increasingly diverse, the colors and styles of vehicles offered by automotive companies have also grown substantially. It poses great challenges to design and management of automotive manufacturing system, among…