12 citations · 44 across the 9 of their papers we have counts for
9 papers
C*: A Coverage Path Planning Algorithm for Unknown Environments using Rapidly Covering Graphs
Zongyuan Shen, James P. Wilson, Shalabh Gupta
The paper presents a novel sample-based algorithm, called C*, for real-time coverage path planning (CPP) of unknown environments. C* is built upon the concept of a Rapidly Covering…
Generalized Multi-Speed Dubins Motion Model
James P. Wilson, Shalabh Gupta, Thomas A. Wettergren
The paper develops a novel motion model, called Generalized Multi-Speed Dubins Motion Model (GMDM), which extends the Dubins model by considering multiple speeds. While the Dubins…
SMART: Self-Morphing Adaptive Replanning Tree
Zongyuan Shen, James P. Wilson, Shalabh Gupta +1
The paper presents an algorithm, called Self-Morphing Adaptive Replanning Tree (SMART), that facilitates fast replanning in dynamic environments. SMART performs risk based tree-pru…
CPPNet: A Coverage Path Planning Network
Zongyuan Shen, Palash Agrawal, James P. Wilson +2
This paper presents a deep-learning based CPP algorithm, called Coverage Path Planning Network (CPPNet). CPPNet is built using a convolutional neural network (CNN) whose input is a…
A Non-uniform Sampling Approach for Fast and Efficient Path Planning
James P. Wilson, Zongyuan Shen, Shalabh Gupta
In this paper, we develop a non-uniform sampling approach for fast and efficient path planning of autonomous vehicles. The approach uses a novel non-uniform partitioning scheme tha…
MRRT: Multiple Rapidly-Exploring Random Trees for Fast Online Replanning in Dynamic Environments
Zongyuan Shen, James P. Wilson, Ryan Harvey +1
This paper presents a novel algorithm, called MRRT, which uses multiple rapidly-exploring random trees for fast online replanning of autonomous vehicles in dynamic environments wit…
DARE: AI-based Diver Action Recognition System using Multi-Channel CNNs for AUV Supervision
Jing Yang, James P. Wilson, Shalabh Gupta
With the growth of sensing, control and robotic technologies, autonomous underwater vehicles (AUVs) have become useful assistants to human divers for performing various underwater…
T-Lite: A Fast Time-Risk Optimal Motion Planning Algorithm for Multi-Speed Autonomous Vehicles
James P. Wilson, Zongyuan Shen, Shalabh Gupta +1
In this paper, we develop a new algorithm, called T-Lite, that enables fast time-risk optimal motion planning for variable-speed autonomous vehicles. The T-Lite…
+: An Online Coverage Path Planning Algorithm for Energy-constrained Autonomous Vehicles
Zongyuan Shen, James P. Wilson, Shalabh Gupta
This paper presents a novel algorithm, called +, for online coverage path planning of unknown environments using energy-constrained autonomous vehicles. Due to limited battery…