Cellular Decomposition and Cellular Homology

1972 ◽  
pp. 85-122
Author(s):  
Albrecht Dold
Keyword(s):  
Cellular Decomposition

A divide-and-conquer/cellular-decomposition framework for million-to-billion atom simulations of chemical reactions

2007 ◽  
Vol 38 (4) ◽  
pp. 642-652 ◽  
Author(s):  
Aiichiro Nakano ◽  
Rajiv K. Kalia ◽  
Ken-ichi Nomura ◽  
Ashish Sharma ◽  
Priya Vashishta ◽  
...  
Keyword(s):  
Chemical Reactions ◽  
Divide And Conquer ◽  
Cellular Decomposition

GM-VPC: An Algorithm for Multi-robot Coverage of Known Spaces Using Generalized Voronoi Partition

Robotica ◽  
2019 ◽  
Vol 38 (5) ◽  
pp. 845-860 ◽  
Author(s):  
Vishnu G. Nair ◽  
K. R. Guruprasad
Keyword(s):  
Geodesic Distance ◽  
Manhattan Distance ◽  
Simulation Experiments ◽  
Cellular Decomposition ◽  
Coverage Path Planning ◽  
Coverage Gap ◽  
Voronoi Partition ◽  
Tree Coverage ◽  
Grid Level ◽  
Partition Boundary

SUMMARYIn this paper we address the problem of coverage path planning (CPP) for multiple cooperating mobile robots. We use a ‘partition and cover’ approach using Voronoi partition to achieve natural passive cooperation between robots to avoid task duplicity. We combine two generalizations of Voronoi partition, namely geodesic-distance-based Voronoi partition and Manhattan-distance-based Voronoi partition, to address contiguity of partition in the presence of obstacles and to avoid partition-boundary-induced coverage gap. The region is divided into 2D×2D grids, where D is the size of the robot footprint. Individual robots can use any of the single-robot CPP algorithms. We show that with the proposed Geodesic-Manhattan Voronoi-partition-based coverage (GM-VPC), a complete and non-overlapping coverage can be achieved at grid level provided that the underlying single-robot CPP algorithm has similar property.We demonstrated using two representative single-robot coverage strategies, namely Boustrophedon-decomposition-based coverage and Spanning Tree coverage, first based on so-called exact cellular decomposition and second based on approximate cellular decomposition, that the proposed partitioning scheme completely eliminates coverage gaps and coverage overlaps. Simulation experiments using Matlab and V-rep robot simulator and experiments with Fire Bird V mobile robot are carried out to validate the proposed coverage strategy.

scholarly journals On the cellular decomposition and the Lusternik–Schnirelmann category of Spin(7)

2003 ◽  
Vol 133 (1) ◽  
pp. 1-14 ◽  
Author(s):  
Norio Iwase ◽  
Mamoru Mimura ◽  
Tetsu Nishimoto
Keyword(s):  
Cellular Decomposition ◽  
Lusternik Schnirelmann

Coverage path planning for UAVs based on enhanced exact cellular decomposition method

Mechatronics ◽  
2011 ◽  
Vol 21 (5) ◽  
pp. 876-885 ◽  
Author(s):  
Yan Li ◽  
Hai Chen ◽  
Meng Joo Er ◽  
Xinmin Wang
Keyword(s):  
Path Planning ◽  
Decomposition Method ◽  
Cellular Decomposition ◽  
Coverage Path Planning

scholarly journals An Optimized Cleaning Robot Path Generation and Execution System using Cellular Representation of Workspace

2020 ◽  
Author(s):  
Qile He ◽  
Yu Sun
Keyword(s):  
Random Walk ◽  
Path Planning ◽  
Work Environment ◽  
A Priori ◽  
Path Generation ◽  
Complete Coverage ◽  
Cellular Decomposition ◽  
Cleaning Robot ◽  
Robot Path

Many robot applications depend on solving the Complete Coverage Path Problem (CCPP). Specifically, robot vacuum cleaners have seen increased use in recent years, and some models offer room mapping capability using sensors such as LiDAR. With the addition of room mapping, applied robotic cleaning has begun to transition from random walk and heuristic path planning into an environment-aware approach. In this paper, a novel solution for pathfinding and navigation of indoor robot cleaners is proposed. The proposed solution plans a path from a priori cellular decomposition of the work environment. The planned path achieves complete coverage on the map and reduces duplicate coverage. The solution is implemented inside the ROS framework, and is validated with Gazebo simulation. Metrics to evaluate the performance of the proposed algorithm seek to evaluate the efficiency by speed, duplicate coverage and distance travelled.

scholarly journals Influence of the Third Element on the Rate of Cellular Decomposition in Cu—5.69 at.% Ti Alloy

2016 ◽  
Vol 36 (6) ◽  
pp. 793-801
Author(s):  
T. S. Gatsenko ◽  
◽  
O. A. Shmatko ◽  
Keyword(s):  
Ti Alloy ◽  
Cellular Decomposition ◽  
The Third

CPC Algorithm: Exact Area Coverage by a Mobile Robot Using Approximate Cellular Decomposition

Robotica ◽  
2020 ◽  
pp. 1-22
Author(s):  
K. R. Guruprasad ◽  
T. D. Ranjitha
Keyword(s):  
Operating System ◽  
Path Planning ◽  
Mobile Robot ◽  
Formal Analysis ◽  
Area Coverage ◽  
Cell Permeability ◽  
Cellular Decomposition ◽  
Robot Operating System ◽  
Coverage Path Planning

SUMMARY A new coverage path planning (CPP) algorithm, namely cell permeability-based coverage (CPC) algorithm, is proposed in this paper. Unlike the most CPP algorithms using approximate cellular decomposition, the proposed algorithm achieves exact coverage with lower coverage overlap compared to that with the existing algorithms. Apart from a formal analysis of the algorithm, the performance of the proposed algorithm is compared with two representative approximate cellular decomposition-based coverage algorithms reported in the literature. Results of demonstrative experiments on a TurtleBot mobile robot within the robot operating system/Gazebo environment and on a Fire Bird V robot are also provided.

In Situ Observations of Precipitation

1973 ◽  
Vol 31 ◽  
pp. 168-169
Author(s):  
E.P. Butler ◽  
P.R. Swann
Keyword(s):  
Grain Boundaries ◽  
Experimental Evidence ◽  
Imperial College ◽  
Cellular Reaction ◽  
Cellular Decomposition ◽  
Temperature Range ◽  
In Situ Observations ◽  
Precipitation Reactions ◽  
Cell Interface

This paper reports preliminary observations of precipitation in several alloy systems obtained with an accurately calibrated hot stage in the AEI EM7 1MeV microscope at Imperial College. These observations, in >1μ thick specimens where precipitation is generally more characteristic of bulk, provide experimental evidence which allows existing theories of precipitation reactions to be examined and critically evaluated.Cellular decomposition in Al-Zn and Mg-Al The cellular reaction in Al-48wt%Zn has been studied in the temperature range 75-250°C. Nucleation occurs rapidly on grain boundaries by the formation of individually nucleated ‘nodules’ which quickly impinge to form an approximately planar cell interface.

Detecting the Extent of Cellular Decomposition after Sub-Eutectoid Annealing in Rolled UMo Foils

2017 ◽  
Author(s):  
Elizabeth J. Kautz ◽  
Saumyadeep Jana ◽  
Arun Devaraj ◽  
Curt A. Lavender ◽  
Lucas E. Sweet ◽  
...  
Keyword(s):  
Cellular Decomposition

First consequences of the cellular decomposition

2011 ◽  
pp. 667-715
Author(s):  
Enrico Arbarello ◽  
Maurizio Cornalba ◽  
Phillip A. Griffiths
Keyword(s):  
Cellular Decomposition
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