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Coverage path planning for legged robots in unknown environments

Dan Jia, Martin Wermelinger, Remo Diethelm, Philipp Krusi, Marco Hutter
2016 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)  
The results demonstrate the feasibility of the proposed algorithm for exploring unknown, rough terrain environments.  ...  In applications like search and rescue, industrial inspection, or construction site mapping, robots may be used to explore and map unknown areas using onboard sensing.  ...  being an online algorithm that can be applied in unknown environments.  ... 
doi:10.1109/ssrr.2016.7784279 dblp:conf/ssrr/JiaWDKH16 fatcat:mmc42benebeepps3ynl2y77jgu

A Coordinated Search Strategy for Multiple Solitary Robots: An Extension [article]

Jordan F. Masakuna, Simukai W. Utete, Steve Kroon
2019 arXiv   pre-print
Interaction of solitary robots has attracted much interest in robotics, but the problem of mitigating interference when time for search is limited remains an important area of research.  ...  We propose a coordination strategy based on the method of cellular decomposition [3] where we employ the concept of soft obstacles: a robot considers cells assigned to other robots as obstacles.  ...  For the contribution here, this work applies the cellular decomposition strategy to search of an unknown environment by solitary robots.  ... 
arXiv:1905.07434v2 fatcat:u6rzqrkvgvevtguijzxqjplqse

A frontier based multi-robot approach for coverage of unknown environments

Raja Sankar Dileep Muddu, Dan Wu, Libing Wu
2015 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
Unknown Environments In real world scenario we would like our robots to explore unknown environments as opposed to known environments.  ...  Unknown vs Known Environment Coverage The main focus of our approach is multi robot exploration of unknown environments.  ... 
doi:10.1109/robio.2015.7414626 dblp:conf/robio/MudduWW15 fatcat:jjafbru2snfl3i5t524sn57px4

Collaborative Complete Coverage and Path Planning for Multi-Robot Exploration

Huei-Yung Lin, Yi-Chun Huang
2021 Sensors  
In mobile robotics research, the exploration of unknown environments has always been an important topic due to its practical uses in consumer and military applications.  ...  In the experiments, our CCPP algorithms are carried out on various unknown and complex environment maps.  ...  More recently, an online coverage path planning algorithm ε was proposed for unknown environment exploration [14] .  ... 
doi:10.3390/s21113709 pmid:34073565 fatcat:jdihm25rn5ay3crg4lfgioqfhe

Cellular Communication-Based Autonomous UAV Navigation with Obstacle Avoidance for Unknown Indoor Environments

Yeon Choi, Kumoh National Institute of Technology, I Ramatryana, Soo Shin, Kumoh National Institute of Technology, Kumoh National Institute of Technology
2021 International Journal of Intelligent Engineering and Systems  
The performance of proposed scheme is evaluated as the error distance and exploration time for unknown area like indoor environment.  ...  In this paper, a cellular communication-based autonomous UAV Navigation is proposed that enables UAVs to maneuver independently in previously unknown and GPS-denied indoor environments with LiDAR sensors  ...  We assume that this map is an unknown area, exploration time is represented as 196 seconds.  ... 
doi:10.22266/ijies2021.0430.31 fatcat:msikkxxtxfbvbaxxkchqrdmhdy

Limited communication, multi-robot team based coverage

I. Rekleitis, V. Lee-Shue, Ai Peng New, H. Choset
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
This paper presents an algorithm for the complete coverage of free space by a team of mobile robots.  ...  Finally Luiza Solomon provided valuable insights on the software design and an implementation of a graph class.  ...  Formation based coverage of an unknown/unstructured environment: Top figure the complete environment. (a) The Robots start covering and exploring.  ... 
doi:10.1109/robot.2004.1308789 dblp:conf/icra/RekleitisLNC04 fatcat:5kiyh4tgrrcj3k7w2d4wcpspda

On the Competitive Complexity of Navigation Tasks [chapter]

Christian Icking, Thomas Kamphans, Rolf Klein, Elmar Langetepe
2002 Lecture Notes in Computer Science  
Then we report on new results and ongoing work on the competitive complexity of exploring an unknown cellular environment. 1 See e. g. the survey article [37] for efficient algorithms for computing shortest  ...  paths in known two-dimensional environments.  ...  Exploring an Unknown Cellular Environment Here we study the model of a rather short-sighted robot.  ... 
doi:10.1007/3-540-45993-6_14 fatcat:qa7jgdr2abcffn7ox3fphfy2ri

Decisional Information System for Safety (D.I.S.S.) Dedicated to the Human Space Exploration Mission

Stéphane Grès
2006 AIP Conference Proceedings  
in an unknown environment (adaptation and co-evolution actors systems / technical systems / environment).  ...  to an unknown environment Life form strategies as a metaphorical guide for supporting the design of the D.I.S.S. • First level strategy -"The known" • Second level strategy -"The relatively known" • Third  ... 
doi:10.1063/1.2216668 fatcat:d5zv52hzwzcrdi5ealdekt3xam

Potential field based approach for coordinate exploration with a multi-robot team

Alessandro Renzaglia, Agostino Martinelli
2010 2010 IEEE Safety Security and Rescue Robotics  
In this paper we introduce a new distributed algorithm for the exploration of an unknown environment with a team of mobile robots.  ...  The objective is to explore the whole environment as fastest as possible. The proposed approach is based on the potential field method.  ...  In particular, our aim is to develop a strategy for the cooperative exploration of an unknown urban-like environment with a MAV swarm.  ... 
doi:10.1109/ssrr.2010.5981557 fatcat:zc5rtbfntjhxhgxmwiwmvczjky

Efficient Boustrophedon Multi-Robot Coverage: an algorithmic approach

Ioannis Rekleitis, Ai Peng New, Edward Samuel Rankin, Howie Choset
2008 Annals of Mathematics and Artificial Intelligence  
Experimental results from different simulated and real environments that illustrate our approach for different communication conditions are presented.  ...  Finally, Luiza Solomon provided valuable insights on the software design and an implementation of the graph class.  ...  Complexity for multi-robot coverage solutions The task of multi-robot coverage of an unknown environment can be divided into two stages: first, the exploration and partial coverage of the unknown environment  ... 
doi:10.1007/s10472-009-9120-2 fatcat:dikrpm7lznfndau6p34hbpjaua

Introduction to the Minireview Series on Modern Technologies for In-cell Biochemistry

Svetlana Lutsenko
2015 Journal of Biological Chemistry  
The last decade has seen enormous progress in the exploration and understanding of the behavior of molecules in their natural cellular environments at increasingly high spatial and temporal resolution.  ...  The ultimate goal of biochemistry is to understand how molecules work in a complex cellular environment at atomic level.  ...  The last decade has seen enormous progress in the exploration and understanding of the behavior of molecules in their natural cellular environments at increasingly high spatial and temporal resolution.  ... 
doi:10.1074/jbc.r115.709444 pmid:26677225 pmcid:PMC4759157 fatcat:hf5esiug5nfx5jhytmeahsny64

Swarm Robotics and Rapidly Exploring Random Graph Algorithms Applied to Environment Exploration and Path Planning

Cindy Calder´on-Arce, Rebeca Solis-Ortega
2019 International Journal of Advanced Computer Science and Applications  
We propose an efficient scheme based on a swarm robotics approach for exploring unknown environments. The initial goal is to trace a map which is later used to find optimal paths.  ...  The proposed scheme consists in three phases: exploration, mapping and path optimization. A cellular automata approach is used for the simulation of the fist two phases.  ...  In the first stage, a simulated swarm based on a cellular automata scheme will be used for exploring unknown environments.  ... 
doi:10.14569/ijacsa.2019.0100586 fatcat:gccatntjhrac5hlofikrezi2sa

Stem Cell Epigenetics: Looking Forward

2014 Cell Stem Cell  
Now, one of the next frontiers is to explore how the cellular environment shapes the epigenome and thereby influences cellular phenotypes.  ...  Epigenetic pathways may also form an interface to buffer against metabolic insults on cellular senescence mechanisms.  ... 
doi:10.1016/j.stem.2014.05.011 pmid:25032261 fatcat:joitmi5hofgudagbhqz467ulti

Extracellular vesicles: important players in immune homeostasis

Allison L. Isola, Suzie Chen
2017 Annals of Translational Medicine  
In the current paper, Knickelbein et al., explored the notion that EVs, such as exosomes, released from RPE cells play in the immunosuppressive environment required to protect the cells from immune-mediated  ...  These authors mimicked an inflammatory environment in an in vivo setting by stimulating the cells with inflammatory cytokines, including IL-1β, IFN-γ, TNF-α, then they characterized the EVs released by  ... 
doi:10.21037/atm.2017.03.76 pmid:28567398 pmcid:PMC5440304 fatcat:y2g265b4tndsfmgx2i3avrcihq

Using rendezvous to overcome communication limitations in multirobot exploration

Briana Lowe Wellman, Shameka Dawson, Julian de Hoog, Monica Anderson
2011 2011 IEEE International Conference on Systems, Man, and Cybernetics  
We consider the problem of coordinating a multirobot system to explore an unknown, large, open environment. An approach that uses sector search with rendezvous is presented.  ...  Robots explore an environment in sectors, or designated areas, and periodically meet to communicate map information of what they have explored.  ...  In a frontier-based [17] algorithm, robots recursively explore an unknown area while building a cellular representation, i.e. an occupancy grid [18] .  ... 
doi:10.1109/icsmc.2011.6084037 dblp:conf/smc/WellmanDHA11 fatcat:snzhdkqwwvbqdddiiou5zommma
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