Multiobjective coverage path planning: Enabling automated inspection of complex, real-world structures

  title={Multiobjective coverage path planning: Enabling automated inspection of complex, real-world structures},
  author={Kai Olav Ellefsen and Herman Augusto Lepikson and Jan Christian Albiez},

A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots

A two-stage optimization model is proposed to efficiently obtain an approximate optimal solution for target searching in mobile robots and shows that the improved optimization algorithm with the priori known frequency of occurrence of the target can further improve the searching with shorter searching time.

A Novel Cooperative Path Planning for Multirobot Persistent Coverage in Complex Environments

A novel strategy for multi-robot persistent coverage is presented, which aims to obtain more equal coverage route for each robot while guaranteeing both the obstacle avoidance and the minimization of the coverage period.

Near-Optimal Area-Coverage Path Planning of Energy-Constrained Aerial Robots With Application in Autonomous Environmental Monitoring

A Voronoi-based path generation algorithm for an energy-constrained mobile robot, such as an unmanned aerial vehicle (UAV), that takes energy constraints into account to generate waypoints for the robot to follow in a near-optimal configuration while maintaining path-length constraints is presented.

A Comprehensive Review of Coverage Path Planning in Robotics Using Classical and Heuristic Algorithms

The principle of CPP is reviewed and the development trend is discussed, including design variations and the characteristic of optimization algorithms, such as classical, heuristic, and most recent deep learning methods, in the area and target coverage.

A survey on multi-robot coverage path planning for model reconstruction and mapping

This paper surveys the research topics related to multi-robot CPP for the purpose of mapping and model reconstructions and concludes with a critical analysis of the field, and future research perspectives.

A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints

A combinatorial approach for path planning, which aims to cover mission domains with different task periods while guaranteeing both obstacle avoidance and minimizing the number of robots used.

Multi-UAV Cooperative 3D Coverage Path Planning Based on Asynchronous Ant Colony Optimization

Asynchronous Ant Colony Optimization (AACO), which makes multiple ant colonies move forward asynchronously, is proposed here to conquer the difficulty of coverage path planning problem in 3D space.

Experimentation and Simulation with Autonomous Coverage Path Planning for UAVs

Evaluating several simulated and real 3D models for path planning shows that some methods can be 15 % more cost-effective while being able to be still computed in a reasonable amount of time.

Simulation-based layout optimization for multi-station assembly lines

This article presents a novel approach for the automated 3D-layout planning of multi-station assembly lines. The planning method is based on a comprehensive model of the used production resources,



Planning Inspection Paths through Evolutionary Multi-objective Optimization

To the knowledge of this work, this is the first work that exploits the power of multiobjective evolution to explore the set of inspection plans that result in the most energy-efficient coverage of structures.

Sampling-Based Coverage Path Planning for Complex 3D Structures

A new algorithm for planning feasible coverage paths is introduced, more computationally efficient in problems of complex geometry than dual sampling method, and a modular algorithm is proposed that allows the simple components of a structure to be covered using planar, back-and-forth sweep paths.

Planning Complex Inspection Tasks Using Redundant Roadmaps

This work generates paths on a par with dual sampling, with reduced computational effort for fast, automated planning of robotic inspections involving complex 3D structures, using an a priori triangle mesh model obtained from real sonar data and comprised of 100,000 primitives.

A survey on coverage path planning for robotics

Sampling-Based Coverage Path Planning for Inspection of Complex Structures

A framework for analyzing the probabilistic completeness of a sampling-based coverage algorithm is established, and results on the completeness and convergence of existing algorithms are derived.

Asymptotically optimal inspection planning using systems with differential constraints

This paper proposes a new inspection planning algorithm, called Random Inspection Tree Algorithm (RITA). Given a perfect model of a structure, sensor specifications, robot's dynamics, and an initial

Inspection planning for sensor coverage of 3D marine structures

  • Brendan EnglotF. Hover
  • Mathematics
    2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2010
An algorithm is introduced to achieve complete sensor coverage of complex, three-dimensional structures surveyed by an autonomous agent with multiple degrees of freedom to inspect the complex structures underneath a ship hull.

Structural inspection path planning via iterative viewpoint resampling with application to aerial robotics

A new fast algorithm that provides efficient solutions to the problem of inspection path planning for complex 3D structures is presented and employs an alternating two-step optimization paradigm to find good viewpoints that together provide full coverage and a connecting path that has low cost.

Sampling-based sweep planning to exploit local planarity in the inspection of complex 3D structures

  • Brendan EnglotF. Hover
  • Computer Science
    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2012
A hybrid algorithm that plans feasible paths for 100% sensor coverage of complex 3D structures of complex3D structures is presented, and the problem of selecting an order to traverse the elements of the inspection is solved by reduction to the traveling salesman problem.

Three-dimensional offline path planning for UAVs using multiobjective evolutionary algorithms

In this paper, we present 3D offline path planner for unmanned aerial vehicles (UAVs) using multiobjective evolutionary algorithms for finding solutions corresponding to conflicting goals of