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In several applications, a robot moving from a start to a goal location is required to gather data along its path (e.g., a video feed in a monitoring scenario). The robot can have at its disposal only a limited amount of memory to store the collected data, in order to contain costs or to avoid that sensible data fall into the hands of an attacker. This poses the need of periodically delivering the...
Follow-the-leader based approaches have been popular for the control of multi-robot teams for their ability to drive many with few. Typically, in these methods you select a single leader, generate a plan for it, while all other agents follow this leader using their individual controllers. However, there are many scenarios where this approach can lead to highly suboptimal behavior or even failure in...
This paper proposes a sightseeing route planning problem by electric vehicle with time-dependency of traveling times between any two sightseeing sites. In order to represent the time-dependency, Time-Expanded Network (TEN), which contains a copy to the set of nodes in the underlying static network for each discrete time step, is introduced. In addition, it is hard for the tourist to set satisfaction...
In persistent missions, taking system's health and capability degradation into account is an essential factor to predict and avoid failures. The state space in health-aware planning problems is often a mixture of continuous vehicle-level and discrete mission-level states. This in particular poses a challenge when the mission domain is partially observable and restricts the use of computationally expensive...
The robot coverage problem, a common planning problem, consists of finding a motion path for the robot that passes over all points in a given area or space. In many robotic applications involving coverage, e.g., industrial cleaning, mine sweeping, and agricultural operations, the desired coverage area is large and of arbitrary layout. In this work, we address the real problem of planning for coverage...
Path planning in dynamic environments with moving obstacles is computationally complex since it requires modeling time as an additional dimension. While in other domains there are state dominance relationships that can significantly reduce the complexity of the search, in dynamic environments such relationships do not exist. This paper presents a novel state dominance relationship tailored specifically...
Renewable energy carriers such as wind or solar radiation turn out to be serious alternatives to fossil and nuclear energy production. However, due to its fluctuating characteristics its application within power grids leads to new challenges for system operators. That includes the intermediate storage of the energy which necessitates the installation of new systems or approaches. One of them is the...
Autonomous vehicles are often complex systems that work in a partially unknown environment, with narrow energy/time/movement constraints. Formal models for such vehicles usually involve hybrid systems with nonlinear dynamics, which are difficult to handle by most of the current planning algorithms and tools. Therefore, when offline planning of the vehicle activities is required, for example for rovers...
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