Article
Automation & Control Systems
Riccardo Caccavale, Alberto Finzi
Summary: Task and motion planning in robotics are typically tackled separately, but their close interdependence calls for a unified approach. This study presents a RRT-based method that combines task and motion planning by utilizing a combined metric space and the associated notion of distance to generate plans with symbolic actions and feasible movements. The effectiveness of the proposed method is demonstrated through case studies in a real-world hospital logistic scenario.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2022)
Article
Chemistry, Analytical
Lijing Tian, Zhizhuo Zhang, Change Zheng, Ye Tian, Yuchen Zhao, Zhongyu Wang, Yihan Qin
Summary: This paper proposed an improved algorithm for rapidly-exploring random trees, optimizing path planning time and reducing redundant points by prioritizing parent point determination and real-time optimization strategies. Simulation results showed close to 100% success rate with significant reductions in redundant points, path planning time, and path length compared to the original algorithm. The proposed strategy showed better performance overall in optimizing success rate, number of points, planning time, and path length.
Article
Engineering, Marine
Da-un Jang, Joo-sung Kim
Summary: This study improves conventional ship route planning algorithms and provides general guidance for route planning. The simulation results confirm the effectiveness of the proposed algorithm.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2022)
Article
Chemistry, Analytical
S. M. Yang, Y. A. Lin
Summary: A safe path planning algorithm for obstacle avoidance in autonomous vehicles has been developed, which integrates path pruning, smoothing, and optimization to improve planning efficiency. This improved algorithm has been shown to successfully track paths and reduce deviations in both regular driving and lane changes.
Article
Automation & Control Systems
Binghui Li, Badong Chen
Summary: This paper introduces an adaptive RRT-Connect (ARRT-Connect) planning method, which handles narrow passage environments and retains the path planning ability of RRT algorithms in other environments.
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
(2022)
Article
Computer Science, Information Systems
Anoush Sepehri, Amirreza Mirbeygi Moghaddam
Summary: This paper introduces a novel motion planner for redundant robotic manipulators utilizing rapidly exploring randomized trees and artificial potential fields. The proposed planner shows efficacy and superiority in controlling manipulators in obstacle-ridden environments through both analytical and experimental evaluation.
Article
Agronomy
Gabriel G. R. de Castro, Guido S. Berger, Alvaro Cantieri, Marco Teixeira, Jose Lima, Ana I. Pereira, Milena F. Pinto
Summary: This paper proposes an online adaptive path-planning solution based on the fusion of rapidly exploring random trees (RRT) and deep reinforcement learning (DRL) algorithms for inspecting fly traps in olive-growing using unmanned aerial vehicles (UAVs). The proposed framework provides a reliable route for the UAV to reach inspection points in the tree space, capture trap images autonomously, and avoid possible obstacles in the environment.
Article
Multidisciplinary Sciences
Zhenghao Zhang, Bing Qiao, Wentong Zhao, Xi Chen
Summary: This study proposed a predictive path planning algorithm for mobile robots in dynamic environments based on the rapidly exploring random tree algorithm, which introduces movement prediction and re-planning paths to accelerate search speed, reduce collision probability, and improve path quality.
ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING
(2021)
Article
Computer Science, Artificial Intelligence
Sha Luo, Mingyue Zhang, Yongbo Zhuang, Cheng Ma, Qingdang Li
Summary: This paper summarizes the characteristics of path planning for industrial robots, reviews the widely used RRT algorithm, and investigates its shortcomings and future development directions. The study results have guided significance for the development and applicability of path planning for industrial robots and the RRT algorithm.
FRONTIERS IN NEUROROBOTICS
(2023)
Article
Engineering, Civil
Cong Zhao, Yifan Zhu, Yuchuan Du, Feixiong Liao, Ching-Yao Chan
Summary: This study presents a lightweight GDTP model based on generative adversarial networks, combined with the RRT algorithm for trajectory planning in autonomous vehicles. Experimental results demonstrate that the method can generate highly feasible trajectories in a short time, with significantly lower tracking errors compared to traditional algorithms.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Computer Science, Information Systems
Youyoung Yang, Henzeh Leeghim, Donghoon Kim
Summary: This study proposes a Dubins path-oriented RRT* algorithm for unmanned aerial vehicles (UAVs) path generation. The algorithm considers the flight direction and minimum radius of rotation, improving optimality and convergence. Compared to existing algorithms, the proposed algorithm shows significant improvements in path length and computation time.
Article
Computer Science, Information Systems
Muhammad Aria Rajasa Pohan, Bambang Riyanto Trilaksono, Sigit Puji Santosa, Arief Syaichu Rohman
Summary: This paper proposes a path planning algorithm, RRT-ACS, that combines the advantages of RRT and ACS algorithms for fast and optimal path planning. The algorithm has shown good performance and convergence speed in benchmark case tests, successfully achieving optimal values. The study also discusses the stability, robustness, convergence, and rapidity of the RRT-ACS algorithm.
Article
Automation & Control Systems
Zitang Zhang, Yibing Li, Qian Sun, Yujie Huang
Summary: In the field of UAV mission planning, autonomous route planning in complex 3D environments is crucial. To improve search efficiency, a novel algorithm called WG-GWO is proposed, which incorporates waypoint guidance, adaptive evolution strategy, and L e & PRIME; vy flight. Simulation results demonstrate that WG-GWO outperforms existing algorithms in generating feasible routes and achieving faster convergence speeds, suggesting its potential for practical engineering applications.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Robotics
Camille Phiquepal, Andreas Orthey, Nicolas Viennot, Marc Toussaint
Summary: This study introduces an algorithm for planning a path-tree in belief-space to solve path planning problems in partially observable environments. The algorithm balances exploration and exploitation to achieve a balance between gaining knowledge about the environment and reaching the goal.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Computer Science, Artificial Intelligence
Manh Duong Phung, Quang Phuc Ha
Summary: This paper introduces a new algorithm named SPSO for UAV path planning, and demonstrates its superiority over other optimization algorithms in various scenarios through comparative experiments.
APPLIED SOFT COMPUTING
(2021)
Article
Computer Science, Artificial Intelligence
William H. S. Antonio, Matheus Da Silva, Rodrigo S. Miani, Jefferson R. Souza
APPLIED ARTIFICIAL INTELLIGENCE
(2019)
Article
Automation & Control Systems
Wallace Pereira Neves dos Reis, Guilherme Jose da Silva, Orides Morandin Junior, Kelen Cristiane Teixeira Vivaldini
Summary: This study provides an in-depth analysis of the parameters in the AMCL ROS package, discussing the impact of parameter tuning on AGV localization. The experiments show that minor parameter changes can improve localization results.
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
(2021)
Article
Chemistry, Analytical
Bruno Brandoli, Andre R. de Geus, Jefferson R. Souza, Gabriel Spadon, Amilcar Soares, Jose F. Rodrigues, Jerzy Komorowski, Stan Matwin
Summary: This paper introduces a method for automatic image-based corrosion detection of aircraft structures using deep neural networks, with a precision of over 93% comparable to trained operators. The approach supports specialists and engineers in the aerospace industry, potentially contributing to the automation of maintenance protocols.
Article
Engineering, Mechanical
Kelen C. Teixeira Vivaldini, Gustavo Franco Barbosa, Igor Araujo Dias Santos, Pedro H. C. Kim, Grayson McMichael, David A. Guerra-Zubiaga
Summary: This research aims to extend the use of nature-inspired robots in aircraft manufacturing, exploiting advanced technologies to increase efficiency, reduce costs, streamline ergonomics issues, and support aircraft fabricators. By integrating state-of-the-art technology, an integrated robotic solution for the inspection of fastened structural joints by a hexapod crawler robot has been developed, providing real-time monitoring via mobile devices. This automation of the inspection process represents an innovative application in the aeronautical sector through intelligent manufacturing.
JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING
(2021)
Article
Computer Science, Artificial Intelligence
Lidia Rocha, Sidnir Ferreira, Kelen C. Teixeira Vivaldini, Jasmine Araujo, Iury Batalha
Summary: With the increasing connectivity of society and the growing demand for data capacity and channel quality, a framework called Ziwi is presented to facilitate network planning through data collection, modeling, and router optimization. Ziwi can simulate wireless networks, measure and calculate metrics and performance parameters, compare different propagation models, optimize network deployment, and provide a virtual reality environment for better interaction with the data.
Proceedings Paper
Computer Science, Artificial Intelligence
Raul Alves, Clenio E. Silva, Jefferson R. Souza
Summary: This article introduces a system for service robots that generates routes using multi-objective evolutionary algorithms and connects robots with the system through a novel robot-server architecture.
ENGINEERING APPLICATIONS OF NEURAL NETWORKS, EAAAI/EANN 2022
(2022)
Proceedings Paper
Engineering, Aerospace
Lidia Rocha, Kelen Vivaldini
Summary: Plannie is a framework for developing, simulating, benchmarking, and testing path planning algorithms in 2D and 3D environments. It supports various path planning algorithms and provides maps from external databases. Additionally, Plannie offers planning modules for dynamic obstacle avoidance, coverage, traveling salesman problems, and multi-robot algorithms.
2022 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS)
(2022)
Proceedings Paper
Engineering, Aerospace
Lidia Rocha, Kelen Vivaldini
Summary: This article conducts a deep benchmarking of 3D path planning techniques in simulated and real environments, comparing different categories of path planning algorithms for UAV missions. The results show that classical techniques are more effective in dynamic path planning, while meta heuristic and machine learning techniques perform the best in static path planning.
2022 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS)
(2022)
Proceedings Paper
Engineering, Aerospace
Jan Bednar, Matej Petrlik, Kelen Cristiane Teixeira Vivaldini, Martin Saska
Summary: This paper presents the integration of VIO methods into a modular control system for UAVs in real-world conditions. It provides reliability analysis and performance comparison of different methods, and proposes workarounds and compensations for non-ideal situations. The quantitative analysis shows the ability of the integrated VIO methods to provide reliable pose estimation for feedback control.
2022 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS)
(2022)
Proceedings Paper
Robotics
Lidia Rocha, Kelen Vivaldini
Summary: This paper compares and statistically analyzes the performance of classical path planning algorithms in indoor and outdoor environments, emphasizing the advantages and disadvantages of the best algorithms, which are subsequently tested in a 3D environment.
2021 LATIN AMERICAN ROBOTICS SYMPOSIUM / 2021 BRAZILIAN SYMPOSIUM ON ROBOTICS / 2021 WORKSHOP OF ROBOTICS IN EDUCATION (LARS-SBR-WRE 2021)
(2021)
Proceedings Paper
Robotics
Arturo Batistute, Edvaldo Santos, Karam Takieddine, Pedro Machado Lazari, Lidia Giane da Rocha, Kelen Cristiane Teixeira Vivaldini
Summary: Human-Robot Interaction (HRI) will be crucial in future intelligent factories. The use of Extended Reality technology has shown advantages in increasing user-friendliness, reducing operational errors, and improving efficiency and effectiveness.
2021 LATIN AMERICAN ROBOTICS SYMPOSIUM / 2021 BRAZILIAN SYMPOSIUM ON ROBOTICS / 2021 WORKSHOP OF ROBOTICS IN EDUCATION (LARS-SBR-WRE 2021)
(2021)
Proceedings Paper
Robotics
Camargo P. Charles, Pedro Henrique Correa Kim, Aline Gabriel de Almeida, Eduardo Vieira Do Nascimentok, Lidia Gianne Souza Da Rocha, Kelen Cristiane Teixeira Vivaldini
Summary: Biological invasions can have irreversible impacts on biodiversity, economic productivity, and even human health. Brazil faces challenges in monitoring invasive species, but utilizing deep learning algorithms and UAVs for remote sensing may positively impact conservation efforts.
2021 LATIN AMERICAN ROBOTICS SYMPOSIUM / 2021 BRAZILIAN SYMPOSIUM ON ROBOTICS / 2021 WORKSHOP OF ROBOTICS IN EDUCATION (LARS-SBR-WRE 2021)
(2021)
Proceedings Paper
Robotics
Aline Gabriel De Almeida, Eduardo Vieira Do Nascimento, Isaac Gaetani Alvarez, Pedro Henrique Correa Kim, Lidia Gianne Souza Da Rocha, Kelen Cristiane Teixeira Vivaldini
Summary: This study introduces a framework for managing UAV tasks to scan and sample algae overgrowth issues in water bodies, comparing offline and online planning strategies tested in a simulated environment.
2021 LATIN AMERICAN ROBOTICS SYMPOSIUM / 2021 BRAZILIAN SYMPOSIUM ON ROBOTICS / 2021 WORKSHOP OF ROBOTICS IN EDUCATION (LARS-SBR-WRE 2021)
(2021)
Article
Multidisciplinary Sciences
Johny Marques, Raulcezar Alves, Henrique C. Oliveira, Marco MendonCa, Jefferson R. Souza
Summary: New applications relying on high-resolution road maps are emerging daily, particularly in academic and industrial settings. Autonomous vehicles depend on digital maps for navigation in challenging conditions, and a methodology utilizing a GoPro camera and ML algorithms has shown promising results in automatically mapping speed bumps with over 96% accuracy. The proposed approach has the potential to be further developed for surveying vehicles to produce highly-detailed maps of vertical road anomalies with a fast and accurate update rate.
ANAIS DA ACADEMIA BRASILEIRA DE CIENCIAS
(2021)
Proceedings Paper
Computer Science, Hardware & Architecture
Fredy Joao Valente, Joao Paulo Morijo, Kelen Cristiane T. Vivaldini, Luis Carlos Trevelin
2019 15TH INTERNATIONAL CONFERENCE ON NETWORK AND SERVICE MANAGEMENT (CNSM)
(2019)