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Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications , such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters,(More)
— This paper proposes a coverage path planning (CPP) method for inspection of 3D natural structures on the ocean floor charted as 2.5D bathymetric maps. This task is integral to many marine robotics applications, such as microbathymetry mapping and image photo-mosaicing. We consider an autonomous underwater vehicle (AUV) with hovering capabilities imaging(More)
—To operate reliably in real-world traffic, an autonomous car must evaluate the consequences of its potential actions by anticipating the uncertain intentions of other traffic participants. This paper presents an integrated behavioral inference and decision-making approach that models vehicle behavior for both our vehicle and nearby vehicles as a discrete(More)
— Highly articulated robot locomotion systems, such as snake robots, present special motion planning challenges. They possess many degrees of freedom, and therefore are modeled by a high dimensional configuration space which must be searched to plan a path. Kinematic and dynamic constraints further complicate the selection of effective controls. Finally,(More)
— We present a novel method for planning 3D coverage paths for inspection of complex structures on the ocean floor (such as seamounts or coral reefs) using an autonomous underwater vehicle (AUV). Our method initially uses an a priori map to plan a nominal coverage path that allows the AUV to pass its sensors over all points on the target structure. We then(More)
— This paper reports on the inclusion of a proba-bilistic channel model within a cooperative localization planning framework. Underwater cooperative localization reduces positioning errors by sharing sensor data across a team of underwater vehicles. Relative range constraints between vehicles are measured by the one-way-travel-time of successfully received(More)