Related papers: The GRT Planning System: Backward Heuristic Constr…
We describe and evaluate the algorithmic techniques that are used in the FF planning system. Like the HSP system, FF relies on forward state space search, using a heuristic that estimates goal distances by ignoring delete lists. Unlike…
In this paper we propose a new family of RRT based algorithms, named RRT+ , that are able to find faster solutions in high-dimensional configuration spaces compared to other existing RRT variants by finding paths in lower dimensional…
Domain-independent planning is one of the foundational areas in the field of Artificial Intelligence. A description of a planning task consists of an initial world state, a goal, and a set of actions for modifying the world state. The…
Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be very efficient in solving high dimensional problems. Even though…
We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…
Informed sampling techniques accelerate the convergence of sampling-based motion planners by biasing sampling toward regions of the state space that are most likely to yield better solutions. However, when the current solution path contains…
Optimal path planning involves finding a feasible state sequence between a start and a goal that optimizes an objective. This process relies on heuristic functions to guide the search direction. While a robust function can improve search…
Rapidly-exploring random trees (RRTs) are popular in motion planning because they find solutions efficiently to single-query problems. Optimal RRTs (RRT*s) extend RRTs to the problem of finding the optimal solution, but in doing so…
Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be efficient in solving high dimensional problems. Even though…
Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed driving scenarios, e.g., driving on a university campus or…
This paper addresses the fast replanning problem in dynamic environments with moving obstacles. Since for randomly moving obstacles the future states are unpredictable, the proposed method, called SMARRT, reacts to obstacle motions and…
Robot path planning is difficult to solve due to the contradiction between optimality of results and complexity of algorithms, even in 2D environments. To find an optimal path, the algorithm needs to search all the state space, which costs…
In this work, we present a novel sampling-based path planning method, called SPRINT. The method finds solutions for high dimensional path planning problems quickly and robustly. Its efficiency comes from minimizing the number of collision…
Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…
Cutting plane methods, particularly outer approximation, are a well-established approach for solving nonlinear discrete optimization problems without relaxing the integrality of decision variables. While powerful in theory, their…
This work considers infinite-horizon optimal control of positive linear systems applied to the case of network routing problems. We demonstrate the equivalence between Stochastic Shortest Path (SSP) problems and optimal control of a certain…
Many academic disciplines - including information systems, computer science, and operations management - face scheduling problems as important decision making tasks. Since many scheduling problems are NP-hard in the strong sense, there is a…
In this paper, we present a method of multi-robot motion planning by biasing centralized, sampling-based tree search with decentralized, data-driven steer and distance heuristics. Over a range of robot and obstacle densities, we evaluate…
Fast Downward is a classical planning system based on heuristic search. It can deal with general deterministic planning problems encoded in the propositional fragment of PDDL2.2, including advanced features like ADL conditions and effects…
Rapidly Exploring Random Trees (RRT) is one of the most widely used algorithms for motion planning in the field of robotics. To reduce the exploration time, RRT-Connect was introduced where two trees are simultaneously formed and eventually…