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cs.RO2026
Efficient Multi-Objective Planning with Weighted Maximization Using Large Neighbourhood Search
Krishna Kalavadia, Shamak Dutta, Yash Vardhan Pant +1
Autonomous navigation often requires the simultaneous optimization of multiple objectives. The most common approach scalarizes these into a single cost function using a weighted su…
cs.RO2024
Approximate Environment Decompositions for Robot Coverage Planning using Submodular Set Cover
Megnath Ramesh, Frank Imeson, Baris Fidan +1
In this paper, we investigate the problem of decomposing 2D environments for robot coverage planning. Coverage path planning (CPP) involves computing a cost-minimizing path for a r…
cs.RO2024
Anytime Replanning of Robot Coverage Paths for Partially Unknown Environments
Megnath Ramesh, Frank Imeson, Baris Fidan +1
In this paper, we propose a method to replan coverage paths for a robot operating in an environment with initially unknown static obstacles. Existing coverage approaches reduce cov…