Related papers: Planning Optimal Paths for Multiple Robots on Grap…
In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…
Towards the development of 6G mobile networks, it is promising to integrate a large number of devices from multi-dimensional platforms, and it is crucial to have a solid understanding of the theoretical limits of large-scale networks. We…
Computing globally optimal motion plans for a robot is challenging in part because it requires analyzing a robot's configuration space simultaneously from both a macroscopic viewpoint (i.e., considering paths in multiple homotopic classes)…
In this work, multi-step traffic predictions are leveraged to enable multi-period planning in reconfigurable optical networks. The proposed framework aims to achieve spectrum savings by adapting the network to predicted time-varying…
The Longest Path Problem is a question of finding the maximum length between pairs of vertices of a graph. In the general case, the problem is NP-complete. However, there is a small collection of graph classes for which there exists an…
Time Optimal Path Parametrization is the problem of minimizing the time interval during which an actuation constrained agent can traverse a given path. Recently, an efficient linear-time algorithm for solving this problem was proposed.…
Optimal control of a mobile robot system is formulated. Multiobjective criteria of time and energy is employed. The optimal control problem is formulated as a nonlinear programming problem (NLP). The problem is solved using the direct…
We consider a cooperative vehicle routing problem for surveillance and reconnaissance missions with communication constraints between the vehicles. We propose a framework which involves a ground vehicle and an aerial vehicle; the vehicles…
This paper introduces a new paradigm of optimal path planning, i.e., passage-traversing optimal path planning (PTOPP), that optimizes paths' traversed passages for specified optimization objectives. In particular, PTOPP is utilized to find…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that the task needs to be carried out repetitively, we want the…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…
In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as…
The article provides a solution algorithm for the linear programming problem (LPP) with the latter being presented as an antagonistic matrix game so the game's further solution is based on the iterative method. The algorithm is presented as…
In this paper, we consider the Constant-cost Orienteering Problem (COP) where a robot, constrained by a limited travel budget, aims at selecting a path with the largest reward in an aisle-graph. The aisle-graph consists of a set of loosely…
This paper considers an optimal task allocation problem for human robot collaboration in human robot systems with persistent tasks. Such human robot systems consist of human operators and intelligent robots collaborating with each other to…
Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we…
This paper studies strategies to optimize the lane configuration of a transportation network for a given set of Origin-Destination demands using a planning macroscopic network flow model. The lane reversal problem is, in general, NP-hard…