4 papers
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…
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…
Optimal Partitioning of Non-Convex Environments for Minimum Turn Coverage Planning
Megnath Ramesh, Frank Imeson, Baris Fidan +1
In this paper, we tackle the problem of planning an optimal coverage path for a robot operating indoors. Many existing approaches attempt to discourage turns in the path by coverin…
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…