{"id":839,"date":"2018-04-19T07:38:35","date_gmt":"2018-04-19T06:38:35","guid":{"rendered":"http:\/\/babel.isa.uma.es\/kipr\/?p=839"},"modified":"2018-07-18T07:40:11","modified_gmt":"2018-07-18T06:40:11","slug":"a-novel-algorithm-for-coverage-path-planning-with-very-strong-guarantees","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=839","title":{"rendered":"A novel algorithm  for coverage path planning with very strong guarantees"},"content":{"rendered":"<h4>J. Song and S. Gupta, <strong>$varepsilon ^{star }$: An Online Coverage Path Planning Algorithm<\/strong>,  IEEE Transactions on Robotics, vol. 34, no. 2, pp. 526-533, <a href=\"http:\/\/doi.org\/10.1109\/TRO.2017.2780259\" target=\"_blank\">DOI: 10.1109\/TRO.2017.2780259<\/a>.<\/h4>\n<blockquote><p>This paper presents an algorithm called \u03b5*, for online coverage path planning of unknown environment. The algorithm is built upon the concept of an Exploratory Turing Machine (ETM), which acts as a supervisor to the autonomous vehicle to guide it with adaptive navigation commands. The ETM generates a coverage path online using Multiscale Adaptive Potential Surfaces (MAPS), which are hierarchically structured and dynamically updated based on sensor information. The \u03b5*-algorithm is computationally efficient, guarantees complete coverage, and does not suffer from the local extrema problem. Its performance is validated by 1) high-fidelity simulations on Player\/Stage and 2) actual experiments in a laboratory setting on autonomous vehicles.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>J. Song and S. Gupta, $varepsilon ^{star }$: An Online Coverage Path Planning Algorithm, IEEE Transactions on Robotics, vol. 34, <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=839\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[23,91],"tags":[339],"class_list":["post-839","post","type-post","status-publish","format-standard","hentry","category-robot-motion-planning","category-robot-task-planning","tag-coverage-problem"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/839"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=839"}],"version-history":[{"count":1,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/839\/revisions"}],"predecessor-version":[{"id":840,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/839\/revisions\/840"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=839"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=839"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=839"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}