Related papers: The GRT Planning System: Backward Heuristic Constr…
Planning with pretrained diffusion models has emerged as a promising approach for solving test-time guided control problems. Standard gradient guidance typically performs optimally under convex, differentiable reward landscapes. However, it…
The paper presents Maximal Ellipsoid Backward Reachable Trees MAXELLIPSOID BRT, which is a multi-query algorithm for planning of dynamic systems under stochastic motion uncertainty and constraints on the control input. In contrast to…
In this work we focus on efficient heuristics for solving a class of stochastic planning problems that arise in a variety of business, investment, and industrial applications. The problem is best described in terms of future buy and sell…
We consider large-scale, implicit-search-based solutions to Shortest Path Problems on Graphs of Convex Sets (GCS). We propose GCS*, a forward heuristic search algorithm that generalizes A* search to the GCS setting, where a…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
Acting to complete tasks in stochastic partially observable domains is an important problem in artificial intelligence, and is often formulated as a goal-based POMDP. Goal-based POMDPs can be solved using the RTDP-BEL algorithm, that…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
This work presents an optimal sampling-based method to solve the real-time motion planning problem in static and dynamic environments, exploiting the Rapid-exploring Random Trees (RRT) algorithm and the Model Predictive Path Integral (MPPI)…
Sampling-based motion planning algorithms such as RRT* are well-known for their ability to quickly find an initial solution and then converge to the optimal solution asymptotically. However, the convergence rate can be slow for…
Sequential Convex Programming (SCP) has recently seen a surge of interest as a tool for trajectory optimization. However, most available methods lack rigorous performance guarantees and they are often tailored to specific optimal control…
Efficiently finding safe and feasible trajectories for mobile objects is a critical field in robotics and computer science. In this paper, we propose SIL-RRT*, a novel learning-based motion planning algorithm that extends the RRT* algorithm…
Classical planning aims to find a sequence of actions, a plan, that maps a starting state into one of the goal states. If a trajectory appears to be leading to the goal, should we prioritise exploring it? Seminal work in goal recognition…
In this paper we have proposed a semi-heuristic optimization algorithm for designing optimal plant layouts in process-focused manufacturing/service facilities. Being a semi-heuristic search, our algorithm is likely to be more efficient in…
Despite the performance advantages of modern sampling-based motion planners, solving high dimensional planning problems in near real-time remains a challenge. Applications include hyper-redundant manipulators, snake-like and humanoid…
In this paper we address the problem of planning in rich domains, where knowledge representation is a key aspect for managing the complexity and size of the planning domain. We follow the approach of Description Logic (DL) based Dynamic…
We consider optimal planning in a large-scale system formalised as a hierarchical finite state machine (HFSM). A planning algorithm is proposed computing an optimal plan between any two states in the HFSM, consisting of two steps: A…
LLMs have shown remarkable proficiency in general language understanding and reasoning. However, they consistently underperform in spatial reasoning that severely limits their application, particularly in embodied intelligence. Inspired by…
Path planning is typically considered in Artificial Intelligence as a graph searching problem and R* is state-of-the-art algorithm tailored to solve it. The algorithm decomposes given path finding task into the series of subtasks each of…
The efficiency of sampling-based motion planning brings wide application in autonomous mobile robots. The conventional rapidly exploring random tree (RRT) algorithm and its variants have gained significant successes, but there are still…
Adaptively Informed Trees (AIT*) is an algorithm that uses the problem-specific heuristic to avoid unnecessary searches, which significantly improves its performance, especially when collision checking is expensive. However, the heuristic…