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The constriction decomposition method for coverage path planning
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016The task of coverage path planning in 2D indoor and outdoor environments is classified as a NP-hard problem, and has been an active research topic for over 30 years. We derive a novel, exact cellular decomposition method called the Constriction Decomposition Method (CDM) and apply it to complex indoor environments.
Stanley Brown, Steven Lake Waslander
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Visual Coverage Path Planning for Urban Environments
IEEE Robotics and Automation Letters, 2020View planning for visual coverage is a fundamental robotics problem. Coverage for small objects (e.g. for inspection) or small scale indoor scenes have been studied extensively. However, view planning to cover a large scale urban environment remains challenging.
Cheng Peng 0010, Volkan Isler
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On minimizing turns in robot coverage path planning
2016 IEEE International Conference on Automation Science and Engineering (CASE), 2016In this paper we study sweep coverage path planning, in which a robot must cover all points in a workspace with its footprint. In many coverage applications, including cleaning and monitoring, it is beneficial to use coverage paths with minimal robot turns.
Stanislav Bochkarev +1 more
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On the Complete Coverage Path Planning for Mobile Robots
Journal of Intelligent & Robotic Systems, 2013This paper presents a generalized complete coverage path planning (CCPP) algorithm and its implementation for a mobile robot. The proposed planner contains two concerns: 1) low working time or low energy consumption, and 2) high human safety. For the first concern, we design the optimal path by incorporating two factors: time and energy costs ...
Ping-Min Hsu +2 more
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A Geometric Folding Pattern for Robot Coverage Path Planning
2021 IEEE International Conference on Robotics and Automation (ICRA), 2021Conventional coverage path planning algorithms are mainly based on the zigzag and spiral patterns or their combinations. The traversal order is limited by the linear or inside-outside manner. We propose a new set of coverage patterns induced from geometric folding operations, called the geometric folding pattern, to make coverage paths with more ...
Lifeng Zhu +5 more
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Coverage Path Planning for 2D Convex Regions
Journal of Intelligent & Robotic Systems, 2019The number of two-dimensional surveying missions with unmanned aerial vehicles has dramatically increased in the last years. To fully automatize the surveying missions it is essential to solve the coverage path planning problem defined as the task of computing a path for a robot so that all the points of a region of interest will be observed.
Juan Irving Vasquez-Gomez +3 more
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A Path Planning Method for Sweep Coverage With Multiple UAVs
IEEE Internet of Things Journal, 2020Wireless sensor networks (WSNs) are usually deployed in the target area to carry out detecting or monitoring tasks. Sweep coverage is an important concern of WSNs that more targets in the area can be monitored with fewer mobile sensor nodes. With the rapid development of unmanned aerial vehicle (UAV) technology, UAV has been increasingly used in ...
Jing Li 0100 +3 more
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Hierarchical Coverage Path Planning in Complex 3D Environments
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020State-of-the-art coverage planning methods perform well in simple environments but take an ineffectively long time to converge to an optimal solution in complex three-dimensional (3D) environments. As more structures are present in the same volume of workspace, these methods slow down as they spend more time searching for all of the nooks and crannies ...
Chao Cao +3 more
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Coverage Path Planning for Internet of Drones
Proceedings of the 19th ACM International Symposium on Performance Evaluation of Wireless Ad Hoc, Sensor, & Ubiquitous Networks on 19th ACM International Symposium on Performance Evaluation of Wireless Ad Hoc, Sensor, & Ubiquitous Networks, 2022Lailla M. S. Bine +3 more
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Aerial Coverage Path Planning in Nuclear Emergencies
Proceedings of the Thirty-Fourth International Joint Conference on Artificial IntelligenceWe formulate a Coverage Path Planning (CPP) problem for a helicopter or a UAV tasked with mapping ground-level radiation while avoiding radiation that is too strong. We introduce a simulation environment that incorporates digital elevation models, altitude-dependent measurement footprints and realistic flight constraints, as well as state-of-the-art ...
Johann Blake, Matthias Schubert
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