Miroslav Kulich
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View article: Variable Neighborhood Search for the Electric Vehicle Routing Problem
Variable Neighborhood Search for the Electric Vehicle Routing Problem Open
The Electric Vehicle Routing Problem (EVRP) extends the classical Vehicle Routing Problem (VRP) to reflect the growing use of electric and hybrid vehicles in logistics. Due to the variety of constraints considered in the literature, compar…
View article: A Holistic Architecture for Monitoring and Optimization of Robust Multi-Agent Path Finding Plan Execution
A Holistic Architecture for Monitoring and Optimization of Robust Multi-Agent Path Finding Plan Execution Open
The goal of Multi-Agent Path Finding (MAPF) is to find a set of paths for a fleet of agents moving in a shared environment such that the agents reach their goals without colliding with each other. In practice, some of the robots executing …
View article: Visual Localization via Semantic Structures in Autonomous Photovoltaic Power Plant Inspection
Visual Localization via Semantic Structures in Autonomous Photovoltaic Power Plant Inspection Open
Inspection systems utilizing unmanned aerial vehicles (UAVs) equipped with thermal cameras are increasingly popular for the maintenance of photovoltaic (PV) power plants. However, automation of the inspection task is a challenging problem …
View article: TřiVis: Versatile, Reliable, and High-Performance Tool for Computing Visibility in Polygonal Environments
TřiVis: Versatile, Reliable, and High-Performance Tool for Computing Visibility in Polygonal Environments Open
Visibility is a fundamental concept in computational geometry, with numerous applications in surveillance, robotics, and games. This software paper presents TřiVis, a C++ library developed by the authors for computing numerous visibility-r…
View article: Omnidirectional Sensor Placement: A Large-Scale Computational Study and Novel Hybrid Accelerated-Refinement Heuristics
Omnidirectional Sensor Placement: A Large-Scale Computational Study and Novel Hybrid Accelerated-Refinement Heuristics Open
This paper studies the omnidirectional sensor-placement problem (OSPP), which involves placing static sensors in a continuous 2D environment to achieve a user-defined coverage requirement while minimizing sensor count. The problem is motiv…
View article: Making a Complete Mess and Getting Away With It: Traveling Salesperson Problems With Circle Placement Variants
Making a Complete Mess and Getting Away With It: Traveling Salesperson Problems With Circle Placement Variants Open
<p>This letter explores a variation of the Traveling Salesperson Problem, where the agent places a circular obstacle next to each node once it visits it. Referred to as the Traveling Salesperson Problem with Circle Placement (TSP-CP)…
View article: Optimizing Mesh to Improve the Triangular Expansion Algorithm for Computing Visibility Regions
Optimizing Mesh to Improve the Triangular Expansion Algorithm for Computing Visibility Regions Open
View article: The Hamiltonian Cycle and Travelling Salesperson problems with traversal-dependent edge deletion
The Hamiltonian Cycle and Travelling Salesperson problems with traversal-dependent edge deletion Open
View article: The Hamiltonian Cycle and Travelling Salesperson Problems with Traversal-Dependent Edge Deletion
The Hamiltonian Cycle and Travelling Salesperson Problems with Traversal-Dependent Edge Deletion Open
View article: Lower and Upper Bounds for Multi-Agent Multi-Item Pickup and Delivery: When a Decoupled Approach is Good Enough (Extended Abstract)
Lower and Upper Bounds for Multi-Agent Multi-Item Pickup and Delivery: When a Decoupled Approach is Good Enough (Extended Abstract) Open
The Multi-agent Multi-item Pickup and Delivery problem (MAMPD) stands for a problem of finding collision-free trajectories for a fleet of mobile agents transporting a set of items from their initial positions to specified locations. Each a…
View article: Triangular Expansion Revisited: Which Triangulation Is The Best?
Triangular Expansion Revisited: Which Triangulation Is The Best? Open
View article: Quality Analysis of Multi-Agent Multi-Item Pickup and Delivery Solutions Using a Decoupled Approach
Quality Analysis of Multi-Agent Multi-Item Pickup and Delivery Solutions Using a Decoupled Approach Open
In this article, we study the Multi-agent Multi-item Pickup and Delivery (MAMPD), which stands for a problem of finding collision-free trajectories for a fleet of mobile agents transporting a set of items from their initial positions to th…
View article: Data-Driven Object Pose Estimation in a Practical Bin-Picking Application
Data-Driven Object Pose Estimation in a Practical Bin-Picking Application Open
This paper addresses the problem of pose estimation from 2D images for textureless industrial metallic parts for a semistructured bin-picking task. The appearance of metallic reflective parts is highly dependent on the camera viewing direc…
View article: Towards Narrowing the Search in Bounded-Suboptimal Safe Interval Path Planning
Towards Narrowing the Search in Bounded-Suboptimal Safe Interval Path Planning Open
Path planning in the presence of dynamic obstacles is challenging as the time dimension has to be considered. A prominent approach to tackle this problem known to be complete and optimal is the A*-based Safe-interval Path Planning (SIPP). …
View article: Benchmark maps and assignments for multi-agent path finding
Benchmark maps and assignments for multi-agent path finding Open
The dataset The dataset is produced within the SafeLog project and it is used for benchmarking of multi-agent path planning algorithms. Specifically, the dataset consists of a set of 21 maps with increasing density and a s…
View article: Benchmark maps and assignments for multi-agent path finding
Benchmark maps and assignments for multi-agent path finding Open
The dataset The dataset is produced within the SafeLog project and it is used for benchmarking of multi-agent path planning algorithms. Specifically, the dataset consists of a set of 21 maps with increasing density and a s…
View article: Planificación de caminos y trayectorias de una formación de robots autónomos
Planificación de caminos y trayectorias de una formación de robots autónomos Open
En este trabajo se presentan los últimos resultados en investigación en el marco de la tesis Planificación de caminos y trayectorias de una formación de robots autónomos. La planificación de camino consiste en encontrar un camino continuo …
View article: Human Intention Recognition for Human Aware Planning in Integrated Warehouse Systems
Human Intention Recognition for Human Aware Planning in Integrated Warehouse Systems Open
With the substantial growth of logistics businesses the need for larger and more automated warehouses increases, thus giving rise to fully robotized shop-floors with mobile robots in charge of transporting and distributing goods. However, …
View article: Human Intention Recognition for Human Aware Planning in Integrated\n Warehouse Systems
Human Intention Recognition for Human Aware Planning in Integrated\n Warehouse Systems Open
With the substantial growth of logistics businesses the need for larger and\nmore automated warehouses increases, thus giving rise to fully robotized\nshop-floors with mobile robots in charge of transporting and distributing\ngoods. Howeve…
View article: On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem
On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem Open
In this paper, we address the multi-agent pickup and delivery problem, a variant of multi-agent path finding. Specifically, we decouple the problem into two parts: task allocation and path planning. We employ the any-angle safe-interval pa…
View article: Centimeter-scaled Self-Assembly: A Preliminary Study
Centimeter-scaled Self-Assembly: A Preliminary Study Open
View article: Push, Stop, and Replan: An Application of Pebble Motion on Graphs to Planning in Automated Warehouses
Push, Stop, and Replan: An Application of Pebble Motion on Graphs to Planning in Automated Warehouses Open
The pebble-motion on graphs is a subcategory of multi-agent pathfinding problems dealing with moving multiple pebble-like objects from a node to a node in a graph with a constraint that only one pebble can occupy one node at a given time. …
View article: Visual Data Simulation for Deep Learning in Robot Manipulation Tasks
Visual Data Simulation for Deep Learning in Robot Manipulation Tasks Open
View article: An Integrated Approach to Autonomous Environment Modeling
An Integrated Approach to Autonomous Environment Modeling Open
View article: Improved Discrete RRT for Coordinated Multi-robot Planning
Improved Discrete RRT for Coordinated Multi-robot Planning Open
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last de…
View article: Improved Discrete RRT for Coordinated Multi-robot Planning
Improved Discrete RRT for Coordinated Multi-robot Planning Open
View article: Sequential path planning for a formation of mobile robots with split and merge
Sequential path planning for a formation of mobile robots with split and merge Open
An algorithm for robot formation path planning is presented in this paper.\nGiven a map of the working environment, the algorithm finds a path for a\nformation taking into account possible split of the formation and its\nconsecutive merge.…
View article: Speed-up of Self-Organizing Networks for Routing Problems in a Polygonal Domain
Speed-up of Self-Organizing Networks for Routing Problems in a Polygonal Domain Open
Routing problems are optimization problems that consider a set of goals in a graph to be visited by a vehicle (or a fleet of them) in an optimal way, while numerous constraints have to be satisfied. We present a solution based on multidime…
View article: Practical Aspects of Autonomous Exploration with a Kinect2 sensor
Practical Aspects of Autonomous Exploration with a Kinect2 sensor Open
Exploration of an unknown environment by a mobile robot is a complex task involving solution of many fundamental problems from data processing, localization to high-level planning and decision making. The exploration framework we developed…
View article: FRAMEWORK FOR AD HOC NETWORK COMMUNICATION IN MULTI-ROBOT SYSTEMS
FRAMEWORK FOR AD HOC NETWORK COMMUNICATION IN MULTI-ROBOT SYSTEMS Open
Assume a team of mobile robots operating in environments where no communication infrastructure like routers or access points is available. The robots have to create a mobile ad hoc network, in that case, it provides communication on peer-t…