5 accepted papers
This paper introduces a novel formulation for finding the recharging schedule for a fleet of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$n$</tex-math></inline-formula> heterogeneous robots that minimizes utiliz
Bathymetry mapping of static water bodies like lakes is essential for sustainable ecosystem development strategies. However, bathymetry mapping using (i) traditional manual sampling approaches using single-beam echosounder (SBE) has large mapping errors and (ii) performing multi-beam survey is very…
We present two real-time trajectory optimizers based on the Cross-Entropy Method for visibility-aware navigation. The two approaches differ in handling inequality constraints stemming from bounds on motion derivatives, collision avoidance, tracking error, etc. Our first optimizer augments the inequa
We introduce a risk-aware variant of the Traveling Salesperson Problem (TSP), where the robot tour cost and reward have to be optimized simultaneously, while being subjected to uncertainty in both. We study the case where the rewards and the costs exhibit diminishing marginal gains, i.e., are submod…
There are many applications such as surveillance and mapping that require persistent monitoring of terrains. In this work, we consider a heterogeneous team of aerial and ground robots that are tasked with monitoring a terrain along a given path. Both types of robots are equipped with cameras that ca…