We present several new contributions in sampling-based coverage path planning, the task of finding feasible paths that give 100% sensor coverage of complex structures in obstaclefilled and visually occluded environments. First, we establish a framework for analyzing the probabilistic completeness of a sampling-based coverage algorithm, and derive results on the completeness and convergence of e...

Path planning of mobile robot in dynamic environment is one of the most challenging issues. To be more specific, path planning in multi-obstacle avoidance environment is defined as: given a vehicle A and a target G that are moving, planning a trajectory that will allow the vehicle to catch the target satisfy some specified constrains while avoiding obstacle O, and each of the obstacles can be e...

The capability of a robot to follow autonomously a person highly enhances its usability when humans and robots collaborate. In this paper we present a system for autonomous following of a walking person in outdoor environments while avoiding static and dynamic obstacles. The principal sensor is a 3D LIDAR with a resolution of 59x29 points. We present a combination of 3D features, motion detecti...

We describe a simple technique to speed up optimal path planning on Euclidean-cost grids and lattices. Many robot navigation planning algorithms build approximate grid representations of the environment and use Djikstra’s algorithm or A* to search the resulting embedded graph for an optimal path between given start and goal locations. However, the classical implementations of these search algor...

The paper presents a path planning algorithm for a non-circular shaped mobile robot to autonomously navigate in an unknown area for humanitarian demining. For that purpose the path planning problem comes down to planning a path from some starting location to a final location in an area so that the robot covers all the reachable positions in the area while following the planned path. Based on ou...

This paper proposes a novel method for generation of optimized tool path in 5-axis flank milling of ruled surfaces based on Particle Swarm Optimization (PSO). The 3D geometric problem, tool path generation, is transformed into a mathematical programming task with the machined surface error as the objective function in the optimization. This approach overcomes the limitation of greedy planning m...

The contribution of the paper is a high performance pathplanning algorithm designed to be used within a multi-agent planning framework solving a UAV collision avoidance problem. Due to the lack of benchmark examples and available algorithms for 3D+time planning, the algorithm performance has been compared in the classical domain of path planning in grids with blocked and unblocked cells. The Ac...

An important concept proposed in the early stage of the robot path planning field is the shrinking of a robot to a point and meanwhile the expanding of the obstacles in the workspace as a set of new obstacles. The resulting grown obstacles are called the Configuration Space (Cspace) obstacles [24, 23]. The find-path problem is then transformed into that of finding a collision-free path for a po...

3D site models of industrial installations are required for tasks like maintenance management, revamping, and path planning. The traditional way of site modelling by photogrammetry relies on the measurement of numerous points and is quite time consuming. Attempts to fully automate 3D reconstruction by CAD based vision fail due to the complexity of the scenes and the lack of modelled knowledge. ...

This paper presents an approach to automatically compute animations for virtual (human or robot) mannequins cooperating to move bulky objects in cluttered environments. The main challenge is to deal with 3D collision avoidance while preserving the believability of the agents behaviors. To accomplish the coordinated task, a geometric and kinematic decoupling of the system is proposed. This decom...