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Adaptable Path Planning in Regionalized Environments [chapter]

Kai-Florian Richter
2009 Lecture Notes in Computer Science  
Finally, regionalized path planning is demonstrated in a sample scenario.  ...  This paper presents such an approach to regionalized path planning.  ...  Each class corresponds to a mutual exclusive interval in the range of [0, 1], i.e. the interval [0, 1] is divided into sub-intervals to form the region classes.  ... 
doi:10.1007/978-3-642-03832-7_28 fatcat:p27tnt7375d2neycc3f2jcjszy

Path Planning in Dynamic Environments [chapter]

Roman Smierzchalski, Zbigniew Michalewicz
2005 Studies in Computational Intelligence  
en geel: 'Lentewandeling' (detail) Printed in The Netherlands by Drukkerij Bariet, Ruinen  ...  Typesetting: This thesis was typeset by the author using L AT E X 2 Cover design: The cover was designed by Lucius, Groningen, using Adobe Illustrator CS2 Cover illustration: Lucius, Compositie 29 in groen  ...  Anytime path planning and replanning in dynamic environments. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 2366-2371, 2006 [16] .  ... 
doi:10.1007/10992388_4 fatcat:3ufm4h4awvdcfbbhefipt3r3kq

Clustering in Discrete Path Planning for Approximating Minimum Length Paths [article]

Frank Imeson, Stephen L. Smith
2017 arXiv   pre-print
In this paper we consider discrete robot path planning problems on metric graphs.  ...  By increasing the input parameter Gamma, the constant factor can be decreased, but with less reduction in the search space.  ...  The following is the IP expression used for the clustered and non-clustered path planning problems, where each variable e a,b ∈ {0, 1}: The formulation was adapted from a TSP IP formulation found in [  ... 
arXiv:1702.08410v2 fatcat:ifn5imyw6zhj7eunfmiajr6fhm

Informative Path Planning for Extreme Anomaly Detection in Environment Exploration and Monitoring [article]

Antoine Blanchard, Themistoklis Sapsis
2021 arXiv   pre-print
The success of the mission is judged by the UAV's ability to faithfully reconstruct any anomalous features present in the environment, with emphasis on the extremes (e.g., extreme topographic depressions  ...  We demonstrate superiority of the proposed approach in several applications, including reconstruction of seafloor topography from real-world bathymetry data, as well as tracking of dynamic anomalies.  ...  prior p x (x) = N (0 + 1/2, 0.01I).  ... 
arXiv:2005.10040v3 fatcat:u2bay77azvdgfiv7wf7bc53doy

Informative Path Planning for Active Learning in Aerial Semantic Mapping [article]

Julius Rückin, Liren Jin, Federico Magistri, Cyrill Stachniss, Marija Popović
2022 arXiv   pre-print
Our experimental evaluation on real-world data shows the benefit of using our informative planning approach in comparison to static coverage paths in terms of maximising model performance and reducing  ...  A key aspect of our pipeline is to link the mapped model uncertainty to a robotic planning objective based on active learning.  ...  ACKNOWLEDGEMENT We would like to thank Matteo Sodano and Tiziano Guadagnino for help with our experiments and proofreading.  ... 
arXiv:2203.01652v2 fatcat:p2slnooyi5bx3f2pf5rr35ehiu

Learning-based Fast Path Planning in Complex Environments [article]

Jianbang Liu, Baopu Li, Tingguang Li, Wenzheng Chi, Jiankun Wang, Max Q.-H. Meng
2021 arXiv   pre-print
In this paper, we present a novel path planning algorithm to achieve fast path planning in complex environments.  ...  To demonstrate the advantage of the proposed algorithm, we compare it with conventional path planning algorithms in a series of simulation experiments.  ...  Path Planning Results The promising region prediction is combined with the RRT* algorithm to plan a feasible path from the start to the goal in the given maze environment.  ... 
arXiv:2110.10041v1 fatcat:bl4jllchqzbtvdzc5ubr5onpgy

Stochastic Functional Gradient Path Planning in Occupancy Maps [article]

Gilad Francis, Lionel Ott, Fabio Ramos
2017 arXiv   pre-print
Planning safe paths is a major building block in robot autonomy. It has been an active field of research for several decades, with a plethora of planning methods.  ...  The experiments demonstrate the advantages of the stochastic approximate kernel method for path planning in occupancy maps.  ...  A path, ξ : [0, 1] → C ∈ R D , is a function that maps time-like parameter t ∈ [0, 1] into configuration space C.  ... 
arXiv:1705.05987v1 fatcat:m5durd3bejgmzksrwf656yn24a

Mobile Robot Path Planning in Dynamic Environments

Yang Wang, Ian P. W. Sillitoe, David J. Mulvaney
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
This paper introduces a genetic algorithm (GA) planner that is able to rapidly determine optimal or nearoptimal solutions for mobile robot path planning problems in environments containing moving obstacles  ...  The new approach is able to produce an off-line plan through an environment containing dynamic obstacles, and can also re-calculate the plan on-line to deal with any motion changes encountered.  ...  Two parameters, path length and travel time, are considered in the evaluation function E f for feasible paths, which is given by , ) , ( ) , ( 2 0 1 2 0 1 ∑ ∑ − = + − = + + = l i i i t l i i i d f V V  ... 
doi:10.1109/robot.2007.363767 dblp:conf/icra/WangSM07 fatcat:62lpplgekvdfvl6v7xn7hqxtgm

Method of evolving junction on optimal path planning in flow fields [article]

Haoyan Zhai, Mengxue Hou, Fumin Zhang, Haomin Zhou
2021 arXiv   pre-print
We propose an algorithm using method of evolving junctions to solve the optimal path planning problems with piece-wise constant flow fields.  ...  In such flow fields with a convex Lagrangian in the objective function, we can prove that the optimal trajectories must be formed by constant velocity motions.  ...  v 01 = 1 v + u ( v 0 + u 0 ) − 1 = 0, which leads to the conclusion that the value function induced by the maximum speed constant velocity motion solves the Hamilton-Jacobi equation, thus is the optimal  ... 
arXiv:1904.11554v2 fatcat:nup2t6tipre63oaaayb6pvhcb4

Topological constraints in search-based robot path planning

S. Bhattacharya, M. Likhachev, V. Kumar
2012 Autonomous Robots  
There are many applications in motion planning where it is important to consider and distinguish between different topological classes of trajectories.  ...  In this paper we consider the problem of robot exploration and planning in Euclidean configuration spaces with obstacles to (a) identify and represent different homology classes of trajectories; (b) plan  ...  Michael Fleder, Computer Science and Artificial Intelligence Laboratory, MIT, for providing us with the example described in Figure 2 (a) that illustrates the distinction between the equivalence of homotopy  ... 
doi:10.1007/s10514-012-9304-1 fatcat:pshcd2mmpvhqndbaqoaap2z6qi

Persistent Homology for Path Planning in Uncertain Environments

Subhrajit Bhattacharya, Robert Ghrist, Vijay Kumar
2015 IEEE Transactions on robotics  
We address the fundamental problem of goal-directed path planning in an uncertain environment represented as a probability (of occupancy) map.  ...  Our simulation results demonstrate the efficiency and practical applicability of the algorithm proposed in the paper  ...  We use a similar idea for computing persistent features of the free space for robot path planning, when we are given an occupancy probability map P : W → [0, 1].  ... 
doi:10.1109/tro.2015.2412051 fatcat:4mynpdhonfagvdjvlt4juexdx4

Hopping path planning in uncertain environments for planetary explorations

Kosuke Sakamoto, Takashi Kubota
2022 ROBOMECH Journal  
The uncertainties of the hopping locomotion in such environments are high, making path planning algorithms essential to traverse these uncertain environments.  ...  This paper newly proposes a hopping path planning algorithm for rough terrains locomotion.  ...  Acknowledgements Not applicable. Authors' contributions KS and TK conceived the idea of the study; KS designed and performed research, and wrote the paper.  ... 
doi:10.1186/s40648-022-00219-7 fatcat:hdk7oqllnbafhmwzcr7uatagca

SFCDecomp: Multicriteria Optimized Tool Path Planning in 3D Printing using Space-Filling Curve Based Domain Decomposition [article]

Prashant Gupta, Yiran Guo, Narasimha Boddeti, Bala Krishnamoorthy
2021 arXiv   pre-print
Strength testing of a tensile test specimen printed with tool paths that maximize or minimize adjacent layer edge overlaps reveal significant differences in tensile strength between the two classes of  ...  Building on SFCDecomp, we develop a multicriteria optimization approach for toolpath planning.  ...  With x ij ∈ {0, 1}, i, j ∈ [n] := {1, . . . , n}, i = j, we let x ij = 1 if edge (i, j) is included in the Hamiltonian path.  ... 
arXiv:2109.01769v1 fatcat:dyuw5xrgkrheffaoqipj4u2yzu

Sub-1.5 Time-Optimal Multi-Robot Path Planning on Grids in Polynomial Time [article]

Teng Guo, Jingjin Yu
2022 arXiv   pre-print
Graph-based multi-robot path planning (MRPP) is NP-hard to optimally solve.  ...  The dual guarantee on computational efficiency and solution optimality suggests our proposed general method is promising in significantly scaling up multi-robot applications for logistics, e.g., at large  ...  ACKNOWLEDGMENTS This work is supported in part by NSF awards IIS-1845888, CCF-1934924, and IIS-2132972, and an Amazon Research Award.  ... 
arXiv:2201.08976v3 fatcat:4ja6xm7zxzcp7gsvbsnpnisuny

Multi-Robot Path Planning in Complex Environments via Graph Embedding [article]

Xifeng Gao, Zherong Pan, Ruiqi Ni
2021 arXiv   pre-print
We propose an approach to solve multi-agent path planning (MPP) problems for complex environments.  ...  We further propose an algorithm to greedily improve the optimality of planned MPP solutions via parallel pebble motions.  ...  INTRODUCTION MPP is a unified theoretical model of various applications, including warehouse arrangement [1] , coverage planning for flooring vacuuming [2, 3] , and inspection planning for search and  ... 
arXiv:2108.03368v1 fatcat:pm55cszipjh25kwgnv7nx2snzq
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