Related papers: Optimal Multi-Robot Path Planning with LTL Constra…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…
The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about…
Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we introduce the Unified Path Planner (UPP), a graph-search…
Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…
For robots to successfully execute tasks assigned to them, they must be capable of planning the right sequence of actions. These actions must be both optimal with respect to a specified objective and satisfy whatever constraints exist in…
We investigate the problem of optimal control synthesis for Markov Decision Processes (MDPs), addressing both qualitative and quantitative objectives. Specifically, we require the system to satisfy a qualitative task specified by a Linear…
In this work, we consider the problem of planning for temporal logic tasks in large robot environments. When full task compliance is unattainable, we aim to achieve the best possible task satisfaction by integrating user preferences for…
Mobile and general-purpose robots increasingly support our everyday life, requiring dependable robotics control software. Creating such software mainly amounts to implementing their complex behaviors known as missions. Recognizing the need,…
Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…
For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in…
Signal temporal logic (STL) provides a powerful, flexible framework for specifying complex autonomy tasks; however, existing methods for planning based on STL specifications have difficulty scaling to long-horizon tasks and are not robust…
A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this paper. The planner allows the…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of…
In this paper, we present an efficient Dynamic Programing framework for optimal planning and control of legged robots. First we formulate this problem as an optimal control problem for switched systems. Then we propose a multi--level…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
In this paper we study multi-robot path planning for persistent monitoring tasks. We consider the case where robots have a limited battery capacity with a discharge time $D$. We represent the areas to be monitored as the vertices of a…
This paper considers the problem of computing an optimal trajectory for an autonomous system that is subject to a set of potentially conflicting rules. First, we introduce the concept of prioritized safety specifications, where each rule is…
We consider a probabilistic model for large-scale task allocation problems for multi-agent systems, aiming to determine an optimal deployment strategy that minimizes the overall transport cost. Specifically, we assign transportation agents…