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Author

Isuru Munasinghe

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Open access Sep 2026

SBCR-A*: Supercover-Based Corridor Reconstruction for Optimal Path Length in Grid-Based Navigation

Grid-based path planning and optimization remain widely used in robotics and autonomous navigation because real environments can be discretized into binary occupancy grids, allowing algorithms such as A* to guarantee a solution whenever a collision-free path exists. However, the resulting grid paths are often subop...

Isuru Munasinghe, Charitha Dombawala, Asanka G. Perera et al. · 0 citations
Preprint Aug 2026

Multimodal Skin Lesion Classification with Swin Transformer and Clinical Metadata Fusion

Skin lesion classification plays an important role in supporting the early diagnosis of skin cancer. However, automated analysis remains challenging due to class imbalance, inter-class similarity, and intra-class variability in dermoscopic images. This paper proposes a multimodal classification framework that combines...

Nethmi Pathirana, Isuru Munasinghe, Dileeka Alwis · 0 citations

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