4 citations · 4 across the 7 of their papers we have counts for
9 papers
Energy-Aware Route Planning for a Battery-Constrained Robot with Multiple Charging Depots
Ahmad Bilal Asghar, Pratap Tokekar
This paper considers energy-aware route planning for a battery-constrained robot operating in environments with multiple recharging depots. The robot has a battery discharge time $…
AG-CVG: Coverage Planning with a Mobile Recharging UGV and an Energy-Constrained UAV
Nare Karapetyan, Ahmad Bilal Asghar, Amisha Bhaskar +3
In this paper, we present an approach for coverage path planning for a team of an energy-constrained Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). Both the UA…
Where to Drop Sensors from Aerial Robots to Monitor a Surface-Level Phenomenon?
Chak Lam Shek, Guangyao Shi, Ahmad Bilal Asghar +1
We consider the problem of routing a team of energy-constrained Unmanned Aerial Vehicles (UAVs) to drop unmovable sensors for monitoring a task area in the presence of stochastic w…
Multi-Robot Persistent Monitoring: Minimizing Latency and Number of Robots with Recharging Constraints
Ahmad Bilal Asghar, Shreyas Sundaram, Stephen L. Smith
In this paper we study multi-robot path planning for persistent monitoring tasks. We consider the case where robots have a limited battery capacity with a discharge time . We re…
Risk-aware Resource Allocation for Multiple UAVs-UGVs Recharging Rendezvous
Ahmad Bilal Asghar, Guangyao Shi, Nare Karapetyan +4
We study a resource allocation problem for the cooperative aerial-ground vehicle routing application, in which multiple Unmanned Aerial Vehicles (UAVs) with limited battery capacit…
Risk-aware UAV-UGV Rendezvous with Chance-Constrained Markov Decision Process
Guangyao Shi, Nare Karapetyan, Ahmad Bilal Asghar +4
We study a chance-constrained variant of the cooperative aerial-ground vehicle routing problem, in which an Unmanned Aerial Vehicle (UAV) with limited battery capacity and an Unman…
Approximation Algorithms for Distributed Multi-Robot Coverage in Non-Convex Environments
Armin Sadeghi, Ahmad Bilal Asghar, Stephen L. Smith
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solution…
Multi-Robot Routing for Persistent Monitoring with Latency Constraints
Ahmad Bilal Asghar, Stephen L. Smith, Shreyas Sundaram
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph.…
Robot Monitoring for the Detection and Confirmation of Stochastic Events
Ahmad Bilal Asghar, Stephen L. Smith
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amou…