Related papers: Efficient Multi-Robot Motion Planning for Unlabele…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
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,…
Planning of any motion starts by planning the trajectory of the CoM. It is of the highest importance to ensure that the robot will be able to perform planned trajectory. With increasing capabilities of the humanoid robots, the case when…
This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal…
A robot's ability to complete a task is heavily dependent on its physical design. However, identifying an optimal physical design and its corresponding control policy is inherently challenging. The freedom to choose the number of links,…
Assume that two robots are located at the centre of a unit disk. Their goal is to evacuate from the disk through an exit at an unknown location on the boundary of the disk. At any time the robots can move anywhere they choose on the disk,…
In this paper we introduce trajectory-based labeling, a new variant of dynamic map labeling, where a movement trajectory for the map viewport is given. We define a general labeling model and study the active range maximization problem in…
A given region in 2-D Euclidean space is divided by a unknown linear classifier in to two sets each carrying a label. The objective of an agent with known dynamics traversing the region is to identify the true classifier while paying a…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
In this paper, a multi-modal vehicle positioning framework that jointly localizes vehicles with channel state information (CSI) and images is designed. In particular, we consider an outdoor scenario where each vehicle can communicate with…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
We consider a distributed system of n identical mobile robots operating in the two dimensional Euclidian plane. As in the previous studies, we consider the robots to be anonymous, oblivious, dis-oriented, and without any communication…
We study motion planning algorithms for collision free control of multiple objects in the presence of moving obstacles. We compute the topological complexity of algorithms solving this problem. We apply topological tools and use information…
We study computationally-hard fundamental motion planning problems where the goal is to translate $k$ axis-aligned rectangular robots from their initial positions to their final positions without collision, and with the minimum number of…
The paper addresses the problem of locating sensors with a circular field of view so that a given line segment is under full surveillance, which is termed as the Disc Covering Problem on a Line. The cost of each sensor includes a fixed…
We present several advancements in search-type problems for fleets of mobile agents operating in two dimensions under the wireless model. Potential hidden target locations are equidistant from a central point, forming either a disk…
An arrangement of $n$ curves in the plane is given. The query is a point $q$ and the goal is to find the face of the arrangement that contains $q$. A data-structure for point-location, preprocesses the curves into a data structure of…
The open shop problem is to find a minimum makespan schedule to process each job $J_i$ on each machine $M_q$ for $p_{iq}$ time such that, at any time, each machine processes at most one job and each job is processed by at most one machine.…
A 1-bend boundary labelling problem consists of an axis-aligned rectangle $B$, $n$ points (called sites) in the interior, and $n$ points (called ports) on the labels along the boundary of $B$. The goal is to find a set of $n$ axis-aligned…