3 papers
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.RO2023
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…
cs.RO2017
Clustering in Discrete Path Planning for Approximating Minimum Length Paths
Frank Imeson, Stephen L. Smith
In this paper we consider discrete robot path planning problems on metric graphs. We propose a clustering method, Gamma-Clustering for the planning graph that significantly reduces…