Related papers: Optimal obstacle placement with disambiguations
We present Topology-Guided ORCA as an alternative simulator to replace ORCA for planning smooth multi-agent motions in environments with static obstacles. Despite the impressive performance in simulating multi-agent crowd motion in free…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
Recent advances in label assignment in object detection mainly seek to independently define positive/negative training samples for each ground-truth (gt) object. In this paper, we innovatively revisit the label assignment from a global…
Given a $d$-dimensional continuous (resp. discrete) probability distribution $\mu$ and a discrete distribution $\nu$, the semi-discrete (resp. discrete) Optimal Transport (OT) problem asks for computing a minimum-cost plan to transport mass…
Several planners have been proposed to compute robot paths that reach desired goal regions while avoiding obstacles. However, these methods fail when all pathways to the goal are blocked. In such cases, the robot must reason about how to…
We approach the fundamental problem of obstacle avoidance for robotic systems via the lens of online learning. In contrast to prior work that either assumes worst-case realizations of uncertainty in the environment or a stationary…
Navigation in complex and noisy environments is a key issue in diverse fields from biology to engineering. Despite extensive progress in numerical optimization methods for computing navigation policies, insights into how disorder reshapes…
We study the distributed facility location games with candidate locations, where agents on a line are partitioned into groups. Both desirable and obnoxious facility location settings are discussed. In distributed location problems,…
This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…
Parallel self-assembly is an efficient approach to accelerate the assembly process for modular robots. However, these approaches cannot accommodate complicated environments with obstacles, which restricts their applications. This paper…
Consider a storage area where arriving items are stored temporarily in bounded capacity stacks until their departure. We look into the problem of deciding where to put an arriving item with the objective of minimizing the maximum number of…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Many problems in geometric optics or convex geometry can be recast as optimal transport problems: this includes the far-field reflector problem, Alexandrov's curvature prescription problem, etc. A popular way to solve these problems…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the…
Solving a collision-aware multi-agent mission planning (task allocation and path finding) problem is challenging due to the requirement of real-time computational performance, scalability, and capability of handling static/dynamic obstacles…
To realize autonomous shipping, autonomous berthing and unberthing are some of the technical challenges. In the past, numerous research have been done on the optimization of trajectory planning of berthing problems. However, these studies…
We present an evolutionary programming algorithm for solving the dynamic routing and wavelength assignment (DRWA) problem in optical wavelength-division multiplexing (WDM) networks under wavelength continuity constraint. We assume an ideal…
Any 3D tracking algorithm has to deal with occlusions: multiple targets get so close to each other that the loss of their identities becomes likely. In the best case scenario, trajectories are interrupted, thus curbing the completeness of…
Obstacle avoidance for Unmanned Aerial Vehicles (UAVs) in cluttered environments is significantly challenging. Existing obstacle avoidance for UAVs either focuses on fully static environments or static environments with only a few dynamic…