Related papers: Efficient Multi-Robot Motion Planning for Unlabele…
The problem of packing of equal disks (or circles) into a rectangle is a fundamental geometric problem. (By a packing here we mean an arrangement of disks in a rectangle without overlapping.) We consider the following algorithmic…
In this paper we introduce and study a new concept of parametrised topological complexity, a topological invariant motivated by the motion planning problem of robotics. In the parametrised setting, a motion planning algorithm has high…
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…
In this paper, we study whether inexpensive, physics-free supervision can reliably prioritize grasp-place candidates for budget-aware pick-and-place. From an object's initial pose, target pose, and a candidate grasp, we generate two…
In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The…
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…
Given a set of $n\geq 1$ autonomous, anonymous, indistinguishable, silent, and possibly disoriented mobile unit disk (i.e., fat) robots operating following Look-Compute-Move cycles in the Euclidean plane, we consider the Pattern Formation…
The Topological complexity a la Farber $\text{TC}(-)$ is a homotopy invariant which have interesting applications in Robotics, specifically, in the robot motion planning problem. In this work we calculate the topological complexity of the…
The aim of the dispersion problem is to place a set of $k(\leq n)$ mobile robots in the nodes of an unknown graph consisting of $n$ nodes such that in the final configuration each node contains at most one robot, starting from any arbitrary…
We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a sensor for its nearby teammates. We formalize CL-MRMP as a…
A topological theory initiated recently by the author uses methods of algebraic topology to estimate numerically the character of instabilities arising in motion planning algorithms. The present paper studies random motion planning…
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…
Algorithmic solutions for the motion planning problem have been investigated for five decades. Since the development of A* in 1969 many approaches have been investigated, traditionally classified as either grid decomposition, potential…
The major challenge of learning from multi-label data has arisen from the overwhelming size of label space which makes this problem NP-hard. This problem can be alleviated by gradually involving easy to hard tags into the learning process.…
The motion planning problem is a fundamental problem in robotics, so that every autonomous robot should be able to deal with it. A number of solutions have been proposed and a probabilistic one seems to be quite reasonable. However, here we…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
We design a motion planning algorithm to coordinate the movements of two robots along a figure eight track, in such a way that no collisions occur. We use a topological approach to robot motion planning that relates instabilities in motion…
Motion Planning (MP) is a critical challenge in robotics, especially pertinent with the burgeoning interest in embodied artificial intelligence. Traditional MP methods often struggle with high-dimensional complexities. Recently neural…
Flexible pick-and-place is a fundamental yet challenging task within robotics, in particular due to the need of an object model for a simple target pose definition. In this work, the robot instead learns to pick-and-place objects using…
In robotics, a topological theory of motion planning was initiated by M. Farber. The multitasking motion planning problem is new and its theoretical part via topological complexity has hardly been developed, but the concrete implementations…