3 accepted papers
Efficient coverage of unknown environments requires robots to adapt their paths in real time based on on-board sensor data. In this paper, we introduce CAP, a connectivity-aware hierarchical coverage path planning algorithm for efficient coverage of unknown environments. During online operation, CAP
The paper presents an algorithm, called Self-Morphing Adaptive Replanning Tree (SMART), that facilitates fast replanning in dynamic environments. SMART performs risk-based tree-pruning if the current path is obstructed by nearby moving obstacle(s), resulting in multiple disjoint subtrees. Then, for
This letter addresses the 3D coverage path planning (CPP) problem for terrain reconstruction of unknown obstacle-rich environments. Due to sensing limitations, the proposed method, called CT-CPP, performs layered scanning of the 3D region to collect terrain data, where the traveling sequence is opti