3 papers
cs.RO2025
SMART-3D: Three-Dimensional Self-Morphing Adaptive Replanning Tree
Priyanshu Agrawal, Shalabh Gupta, Zongyuan Shen
This paper presents SMART-3D, an extension of the SMART algorithm to 3D environments. SMART-3D is a tree-based adaptive replanning algorithm for dynamic environments with fast movi…
cs.RO2025
SMART-OC: A Real-time Time-risk Optimal Replanning Algorithm for Dynamic Obstacles and Spatio-temporally Varying Currents
Reema Raval, Shalabh Gupta
Typical marine environments are highly complex with spatio-temporally varying currents and dynamic obstacles, presenting significant challenges to Unmanned Surface Vehicles (USVs)…
cs.RO2025
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…