The era of robotics-based environmental monitoring has given rise to many interesting areas research. A key challenge is that robotic platforms and their operations are typically constrained in ways limit energy, time, or travel distance, which turn limits the number measurements can be collected. Therefore, paths need planned maximize information gathered about an unknown environment while sat...

We present a seabed profile estimation and following method for close proximity inspection of 3D underwater structures using autonomous underwater vehicles (AUVs). The presented method is used to determine a path allowing the AUV to pass its sensors over all points of the target structure, which is known as coverage path planning. Our profile following method goes beyond traditional seabed foll...

This article addresses the problem of Cooperative Coverage Path Planning (C-CPP) for the inspection of complex infrastructures (offline 3D reconstruction) by utilizing multiple Unmanned Autonomous Vehicles (UAVs). The proposed scheme, based on a priori 3D model of the infrastructure under inspection, is able to generate multiple paths for UAVs in order to achieve a complete cooperative coverage...

The aim of this work is fast, automated planning of robotic inspections involving complex 3D structures. A model comprised of discrete geometric primitives is provided as input, and a feasible robot inspection path is produced as output. Our algorithm is intended for tasks in which 2.5D algorithms, which divide an inspection into multiple 2D slices, and segmentation-based approaches, which divi...

This research takes an application-specific approach to investigate, extend and implement the state of the art in the fields of both visual information retrieval and machine learning, bridging the gap between theoretical models and real world applications. During an image-guided neurosurgery, path planning remains the foremost and hence the most important step to perform an operation and ensure...

Vehicular ad hoc Networks (VANETs) enable vehicles to communicate with each other as well as with roadside units (RSUs). Although there is a significant research effort in radio channel modeling focused on vehicle-to-vehicle (V2V), not much work has been done for vehicle-to-infrastructure (V2I) using 3D ray-tracing tools. This work evaluates some important parameters of a V2I wireless channel l...

A novel collision avoidance algorithm based on the generalized potential model is proposed to solve the path-planning problem of hyper-redundant manipulators in 3D workspace. The approach computes repulsive force and torque between manipulator and obstacles by using the workspace information directly. A collision-free path for a manipulator can then be obtained by locally adjusting the manipula...

We present a new open-source software framework (called Humanoid Path Planner – HPP) for path and manipulation planning. Some features like built-in kinematic chains and implementation of non-linear constraints make the framework a good fit for humanoid robot applications. The implementation of kinematic chains takes into account the Lie-group structure (rotation in 3D space SO(3)) of robot con...

A difficult aspect of the translation of English text into American Sign Language (ASL) animation has been the production of ASL phenomena called “classifier predicates.” The complex way these expressions use the 3D space around the signer challenges traditional MT approaches. This paper presents new models for classifier predicates based on a 3D spatial representation and an animation planning...