Art gallery theorems and algorithms
Art gallery theorems and algorithms
Information Processing Letters
Random number generation and quasi-Monte Carlo methods
Random number generation and quasi-Monte Carlo methods
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
A randomized art-gallery algorithm for sensor placement
SCG '01 Proceedings of the seventeenth annual symposium on Computational geometry
Spanning-tree based coverage of continuous areas by a mobile robot
Annals of Mathematics and Artificial Intelligence
Coverage for robotics – A survey of recent results
Annals of Mathematics and Artificial Intelligence
Registration of multiple acoustic range views for underwater scene reconstruction
Computer Vision and Image Understanding - Registration and fusion of range images
Chained Lin-Kernighan for Large Traveling Salesman Problems
INFORMS Journal on Computing
VC-Dimension of Exterior Visibility
IEEE Transactions on Pattern Analysis and Machine Intelligence
Planning Tours of Robotic Arms among Partitioned Goals
International Journal of Robotics Research
Automated camera layout to satisfy task-specific and floor plan-specific coverage requirements
Computer Vision and Image Understanding - Special issue on omnidirectional vision and camera networks
On the optimal placement of multiple visual sensors
Proceedings of the 4th ACM international workshop on Video surveillance and sensor networks
Poisson surface reconstruction
SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing
The Traveling Salesman Problem: A Computational Study (Princeton Series in Applied Mathematics)
The Traveling Salesman Problem: A Computational Study (Princeton Series in Applied Mathematics)
Complexity of the mover's problem and generalizations
SFCS '79 Proceedings of the 20th Annual Symposium on Foundations of Computer Science
A perception-driven autonomous urban vehicle
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part III
View planning and automated data acquisition for three-dimensional modeling of complex sites
Journal of Field Robotics - Three-Dimensional Mapping, Part 2
Can you see me now? sensor positioning for automated and persistent surveillance
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Approximation algorithms for combinatorial problems
Journal of Computer and System Sciences
Ɛ-net approach to sensor k-coverage
EURASIP Journal on Wireless Communications and Networking - Special issue on wireless network algorithms, systems, and applications
Spectral registration of noisy sonar data for underwater 3D mapping
Autonomous Robots
Sampling-based algorithms for optimal motion planning
International Journal of Robotics Research
Active planning for underwater inspection and the benefit of adaptivity
International Journal of Robotics Research
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To support autonomous, in-water inspection of a ship hull, we propose and implement new techniques for coverage path planning over complex 3D structures. Our main contribution is a comprehensive methodology for sampling-based design of inspection routes, including an algorithm for planning, an algorithm for smoothing, and an analysis of probabilistic completeness. The latter two outcomes are the first of their kind in the area of coverage planning. Our algorithms give high-quality solutions over expansive structures, and we demonstrate this with experiments in the laboratory and on a 75 m Coast Guard cutter.