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Sensor-based Coverage of Unknown Environments: Incremental Construction of Morse Decompositions

Ercan U. Acar, Howie Choset
2002 The international journal of robotics research  
The goal of coverage path planning is to determine a path that passes a detector over all points in an environment.  ...  This work prescribes a provably complete coverage path planner for robots in unknown spaces.  ...  of this work.  ... 
doi:10.1177/027836402320556368 fatcat:4j7cucsp7bdv3dcsxnber47vci

Complete Coverage Path Planning in an Unknown Underwater Environment Based on D-S Data Fusion Real-Time Map Building

Mingzhong Yan, Daqi Zhu, Simon X. Yang
2012 International Journal of Distributed Sensor Networks  
The complete coverage of the environment guarantees that the AUV can acquire adequate environment information. The evidence theory is used to handle the noise and uncertainty of the sensor data.  ...  Concurrently, real-time sensor data are "fused" into a two-dimensional (2D) occupancy grid map of the environment using evidence inference rule based on the Dempster-Shafer theory.  ...  Section 4 presents the simulation results of map building based on complete coverage path planning in an unknown underwater environment. Finally, conclusions are outlined in Section 5.  ... 
doi:10.1155/2012/567959 fatcat:kn5mvzxmlfgohamtabtft3dhau

Distributed Coverage and Exploration in Unknown Non-convex Environments [chapter]

Subhrajit Bhattacharya, Nathan Michael, Vijay Kumar
2013 Springer Tracts in Advanced Robotics  
: -Develop an efficient way of computing Voronoi tessellations in non-convex environments using search-based algorithm for assignment of exploration and coverage tasks.  ...  Problem Definition: N agents exploring an unknown environment need to share exploration tasks fairly, and achieve good coverage during and at the end of exploration, in a distributed fashion. • Our approach  ...  : -Develop an efficient way of computing Voronoi tessellations in non-convex environments using search-based algorithm for assignment of exploration and coverage tasks.  ... 
doi:10.1007/978-3-642-32723-0_5 fatcat:m2bkansf3rgcppekjxaioee6li

Visibility-Based Coverage of Mobile Sensors in Non-convex Domains

Lin Lu, Yi-King Choi, Wenping Wang
2011 2011 Eighth International Symposium on Voronoi Diagrams in Science and Engineering  
We propose the definition of "visibility-based Voronoi diagram" and extend the continuoustime Lloyd's method, which only works for convex domains, to deploy the mobile sensors in the unknown environments  ...  We consider the problem of exploration and coverage by mobile sensors in an unknown non-convex domain.  ...  By introducing the notion of visibility-based Voronoi diagram, we can achieve an optimal visibility-based coverage of the unknown environment with respect to an objective function.  ... 
doi:10.1109/isvd.2011.22 dblp:conf/isvd/LuCW11 fatcat:gjzedeoujjbzflwwgu6uwquil4

Radio Coverage Analysis of Anchor Nodes for the Localization and Monitoring of Smart Energy Meters (SEM)

Griffith S.Klogo, James D. Gadze, Henry Diawuo
2014 International Journal of Computer Applications  
This paper evaluates the radio coverage of anchor nodes and reliability in an anchor-based wireless sensor network platform used in locating and monitoring smart energy meters.  ...  Anchor-based localization techniques require anchor nodes having good radio coverage to the unknown nodes.  ...  Localization schemes are referred to as Anchor-Based or Anchor free if the technique involves estimating the location of the unknown sensor node in reference to an anchor node or without reference to an  ... 
doi:10.5120/14901-3393 fatcat:itnzg2lnyjh5tfn7w5j6w6a46e

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)  
based approach for coverage of unknown environments using multiple robots.  ...  Goals The prime goal of this work is to develop a multi robot frontier based approach for coverage of unknown environments.  ... 
doi:10.1109/robio.2015.7414626 dblp:conf/robio/MudduWW15 fatcat:jjafbru2snfl3i5t524sn57px4

Online Coverage by a Tethered Autonomous Mobile Robot in Planar Unknown Environments

Iddo Shnaps, Elon Rimon
2013 Robotics: Science and Systems IX  
Starting at S, the robot has to cover an unknown planar environment containing obstacles, and return to S with the cable fully retracted.  ...  detection sensors.  ...  on another limited resource problem, where a mobile robot travels with limited capacity batteries in unknown planar environments.  ... 
doi:10.15607/rss.2013.ix.007 dblp:conf/rss/ShnapsR13 fatcat:dqa3b5cmdfhtnidgyemfsvjwn4

Online Coverage by a Tethered Autonomous Mobile Robot in Planar Unknown Environments

Iddo Shnaps, Elon Rimon
2014 IEEE Transactions on robotics  
Starting at S, the robot has to cover an unknown planar environment containing obstacles, and return to S with the cable fully retracted.  ...  detection sensors.  ...  on another limited resource problem, where a mobile robot travels with limited capacity batteries in unknown planar environments.  ... 
doi:10.1109/tro.2014.2301534 fatcat:bw5lvz72sjh27cwy5vceud4mtq

A Dynamic Path Planning Approach for Multirobot Sensor-Based Coverage Considering Energy Constraints

Ahmet Yazici, Gokhan Kirlik, Osman Parlaktuna, Aydin Sipahioglu
2014 IEEE Transactions on Cybernetics  
The environment is assumed to be narrow and partially unknown. A Generalized Voronoi diagram-based network is used for the sensor-based coverage planning due to narrow nature of the environment.  ...  In this study, a novel dynamic path planning approach is proposed for multi-robot sensor-based coverage considering energy capacities of the mobile robots.  ...  It constructs the sensor-based coverage paths both in known and partially unknown environments considering robot energy capacities.  ... 
doi:10.1109/tcyb.2013.2253605 pmid:23757551 fatcat:x3pwdn2yjja5phm25qotjavf3u

A dynamic path planning approach for multi-robot sensor-based coverage considering energy constraints

Ahmet Yazici, Gokhan Kirlik, Osman Parlaktuna, Aydin Sipahioglu
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The environment is assumed to be narrow and partially unknown. A Generalized Voronoi diagram-based network is used for the sensor-based coverage planning due to narrow nature of the environment.  ...  In this study, a novel dynamic path planning approach is proposed for multi-robot sensor-based coverage considering energy capacities of the mobile robots.  ...  It constructs the sensor-based coverage paths both in known and partially unknown environments considering robot energy capacities.  ... 
doi:10.1109/iros.2009.5354058 dblp:conf/iros/YaziciKPS09 fatcat:ln6icb3tgjbmrp2bfufgouvldm

Online Exploration and Coverage Planning in Unknown Obstacle-Cluttered Environments [article]

Xinyue Kan, Hanzhe Teng, Konstantinos Karydis
2020 arXiv   pre-print
In this paper, we propose a hierarchical, hex-decomposition-based coverage planning algorithm for unknown, obstacle-cluttered environments.  ...  Without prior information of the environment, achieving resolution-complete coverage considering the non-holonomic mobility constraints in commonly-used vehicles (e.g., wheeled robots) remains a challenge  ...  The major difference between HDCP and our previous work M-HDE [29] -which also applies hexagonal cell decomposition in unknown environments-is the sensor-footprint-based decomposition strategy herein  ... 
arXiv:2006.16460v1 fatcat:6hqoahbzqvhyxkflipptr6j35y

Contact sensor-based coverage of rectilinear environments

Z.J. Butler, A.A. Rizzi, R.L. Hollis
1999 Proceedings of the 1999 IEEE International Symposium on Intelligent Control Intelligent Systems and Semiotics (Cat. No.99CH37014)  
A variety of mobile robotics tasks require c omplete coverage of an initially unknown environment, either as the entire task or as a way to generate a complete map for use in further missions.  ...  The outline of a completeness proof of C C R is also presented, which shows that it produces coverage of any of a large class of rectilinear environments.  ...  The author would like to thank Jay G o wdy, who wrote the minifactory simulation environment, and Al Rizzi and Howie Choset for thoughtful discussions about C C R and its completeness proof.  ... 
doi:10.1109/isic.1999.796666 fatcat:hkzamjfidbar5eh2grq7he2z5e

Chapter 4: Mobile Robot Deployment in the Context of WSN [chapter]

Milan Erdelj, Karen Miranda
2014 Wireless Sensor and Robot Networks  
The necessity of larger sensor networks in an unknown environment leaves us with the random deployment as the only choice.  ...  in the case of absence of any localization technique followed by the completely unknown deployment environment.  ... 
doi:10.1142/9789814551342_0004 fatcat:qgndkrfhozfrpealy56gsvwhty

Complete Coverage Navigation of Cleaning Robots Using Triangular-Cell-Based Map

J.S. Oh, Y.H. Choi, J.B. Park, Y.F. Zheng
2004 IEEE transactions on industrial electronics (1982. Print)  
This paper presents a novel approach for navigation of cleaning robots in an unknown workspace. To do so, we propose a new map representation method as well as a complete coverage navigation method.  ...  Finally, we evaluate the performance of our proposed triangular cell map via the existing distancetransform-based path-planning method comparing it to that of the rectangular cell map.  ...  His current research interests are in the design and synthesis of wavelet neural networks for tracking control of mobile robots.  ... 
doi:10.1109/tie.2004.825197 fatcat:rgrisyndo5bx5iyg27tdj3t5gm

An Enhanced Hybrid 3D Localization Algorithm Based on APIT and DV-Hop

Lianjun Yi, Miaochao Chen
2017 International Journal of Online Engineering (iJOE)  
In addition, the algorithm can combine the advantages of APIT algorithm and DV-Hop algorithm localization algorithm to calculate the unknown node coordinates, and also improve the location coverage of  ...  Since the acquired data must be bound with the location information of sensor nodes, the sensor localization is one of the supporting technologies of wireless sensor networks.  ...  the low coverage rate in sparse environment.  ... 
doi:10.3991/ijoe.v13i09.7255 fatcat:g2gt24uyizdyfbszqaflkpwmsi
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