22 citations · 23 across the 9 of their papers we have counts for
11 papers
Dynamic UGV-UAV Cooperative Path Planning in Uncertain Environments
Ninh Nguyen, Srinivas Akella
This paper addresses the Dynamic UGV-UAV Cooperative Path Planning (DUCPP) problem involving one unmanned ground vehicle (UGV) assisted by one or more unmanned aerial vehicles (UAV…
Optimal UGV-UAV Cooperative Partitioning and Inspection of Shortest Paths
Ninh Nguyen, Srinivas Akella
We study cooperative shortest path planning for an unmanned ground vehicle (UGV) assisted by an unmanned aerial vehicle (UAV) scout in environments with unknown road blockages that…
Schur-MI: Fast Mutual Information for Robotic Information Gathering
Kalvik Jakkala, Jason O'Kane, Srinivas Akella
Mutual information (MI) is a principled and widely used objective for robotic information gathering (RIG), providing strong theoretical guarantees for sensor placement (SP) and inf…
Informative Path Planning with Guaranteed Estimation Uncertainty
Kalvik Jakkala, Saurav Agarwal, Jason O'Kane +1
Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower sur…
Bayesian Sensor Placement for Multi-source Localization of Pathogens in Wastewater Networks
Kalvik Jakkala, Srinivas Akella
Wastewater monitoring is an effective approach for the early detection of viral and bacterial disease outbreaks. It has recently been used to identify the presence of individuals i…
Multi-Robot Informative Path Planning from Regression with Sparse Gaussian Processes (with Appendix)
Kalvik Jakkala, Srinivas Akella
This paper addresses multi-robot informative path planning (IPP) for environmental monitoring. The problem involves determining informative regions in the environment that should b…
Efficient Sensor Placement from Regression with Sparse Gaussian Processes in Continuous and Discrete Spaces
Kalvik Jakkala, Srinivas Akella
The sensor placement problem is a common problem that arises when monitoring correlated phenomena, such as temperature, precipitation, and salinity. Existing approaches to this pro…
Area Coverage with Multiple Capacity-Constrained Robots
Saurav Agarwal, Srinivas Akella
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned…
The Correlated Arc Orienteering Problem
Saurav Agarwal, Srinivas Akella
This paper introduces the correlated arc orienteering problem (CAOP), where the task is to find routes for a team of robots to maximize the collection of rewards associated with fe…
The Single Robot Line Coverage Problem: Theory, Algorithms, and Experiments
Saurav Agarwal, Srinivas Akella
Line coverage is the task of servicing a given set of one-dimensional features in an environment. It is important for the inspection of linear infrastructure such as road networks,…
Line Coverage with Multiple Robots: Algorithms and Experiments
Saurav Agarwal, Srinivas Akella
The line coverage problem involves finding efficient routes for the coverage of linear features by one or more resource-constrained robots. Linear features model environments like…