Related papers: Multidimensional Online Robot Motion
In this paper, we study a general online linear programming problem whose formulation encompasses many practical dynamic resource allocation problems, including internet advertising display applications, revenue management, various routing,…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…
This paper addresses the online motion planning problem of mobile robots under complex high-level tasks. The robot motion is modeled as an uncertain Markov Decision Process (MDP) due to limited initial knowledge, while the task is specified…
Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…
Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…
Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
Though competitive analysis has been a very useful performance measure for the quality of online algorithms, it is recognized that it sometimes fails to distinguish between algorithms of different quality in practice. A number of…
Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…
The gathering over meeting nodes problem requires the robots to gather at one of the pre-defined meeting nodes. This paper investigates the problem with respect to the objective function that minimizes the total number of moves made by all…
When robots share the same workspace with other intelligent agents (e.g., other robots or humans), they must be able to reason about the behaviors of their neighboring agents while accomplishing the designated tasks. In practice,…
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Mobile robot navigation is typically regarded as a geometric problem, in which the robot's objective is to perceive the geometry of the environment in order to plan collision-free paths towards a desired goal. However, a purely geometric…
We consider the problem of robot motion planning in an oriented Riemannian manifold as a topological motion planning problem in its oriented frame bundle. For this purpose, we study the topological complexity of oriented frame bundles,…
The graph exploration problem requires a group of mobile robots, initially placed arbitrarily on the nodes of a graph, to work collaboratively to explore the graph such that each node is eventually visited by at least one robot. One…