Robotic adversarial coverage of known environments

Robotic Adversarial Coverage: From Theory to Practice

This work implements and simulates the problem known as adversarial coverage. In this problem, a robot is required to visit every point in a target area, which contains hazards or threats that might stop the robot. The objective of the robot is to cover the target area as quickly as possible, while maximizing the probability of completing the coverage before it is stopped. Previous studies of t...

Robotic Strategic Behavior in Adversarial Environments

The presence of robots in areas containing threats is becoming more prevalent, due to their ability to perform missions accurately, efficiently, and with little risk to humans. Having the robots handle adversarial forces in missions such as search and rescue, intelligence gathering, border protection and humanitarian assistance, raises many new, exciting research challenges. This paper describe...

Robotic Adversarial Coverage: (Doctoral Consortium)

Coverage is a fundamental problem in robotics, where one or more robots are required to visit each point in a target area at least once. While all previous studies of the problem concentrated on finding a solution that completes the coverage as quickly as possible, in this thesis I consider a new and more general version of the problem: adversarial coverage. Here, the robot operates in an envir...

Adversarial Modeling in the Robotic Coverage Problem: Proofs and Algorithm Details

Realizing the Aerial Robotic Worker for Inspection Operations

This report overviews a set of recent contributions in the field of path planning that were developed to enable the realization of the autonomous aerial robotic worker for inspection operations. The specific algorithmic contributions address several fundamental challenges of robotic inspection and exploration, and specifically those of optimal coverage planning given an a priori known model of ...