5 accepted papers
The Patrolling Problem is a crucial feature of the surveillance task in defense and other establishments. Most of the works in the literature concentrate on reducing the Idleness value at each location in the environment. However, there are often a few prioritized locations that cannot be left unvis…
Path planning of a tool in Minimally Invasive Surgery (MIS) can provide assistance to the surgeons by giving solutions for faster and safe tool movements during the surgery. However, the main challenge in this problem is to address non-uniform tool shape for planning that can change due to the tool’…
In this letter, we propose a novel decentralized controller for the aggregation of a swarm of unicycle agents in the absence of communication and exchange of global positions. The methodology implicitly facilitates tasks like obstacle avoidance and path-following, whereas the agents exercise local d
Sensing technology is an integral part of any autonomous system. In particular, two-dimensional (2-D) range sensors have played a critical role in localization, mapping, and other sensing tasks in robotics. But, 2-D measurements provide limited information about the environment, while 3-D range sens
This paper proposes a trajectory planning strategy to simultaneously address multiple surveillance objectives such as complete area coverage, periodic surveillance, and guaranteed detection of a rogue element attempting to exit the area of interest. For agents with identical sensing capability, the…