Related papers: Algorithms and Limits for Compact Plan Representat…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
Generalized planning is about finding plans that solve collections of planning instances, often infinite collections, rather than single instances. Recently it has been shown how to reduce the planning problem for generalized planning to…
To coordinate with other agents in its environment, an agent needs models of what the other agents are trying to do. When communication is impossible or expensive, this information must be acquired indirectly via plan recognition. Typical…
Multi-agent planning (MAP) approaches have been typically conceived for independent or loosely-coupled problems to enhance the benefits of distributed planning between autonomous agents as solving this type of problems require less…
Whether a robot can perform some specific task depends on several aspects, including the robot's sensors and the plans it possesses. We are interested in search algorithms that treat plans and sensor designs jointly, yielding…
The definition of symbolic descriptions that consistently represent relevant geometrical aspects in manipulation tasks is a challenging problem that has received little attention in the robotic community. This definition is usually done…
Graphs are extremely versatile and ubiquitous mathematical structures with potential to model a wide range of domains. For this reason, graph problems have been of interest since the early days of computer science. Some of these problems…
We present an evaluation of several representative sampling-based and optimization-based motion planners, and then introduce an integrated motion planning system which incorporates recent advances in trajectory optimization into a sparse…
Many planning formalisms allow for mixing numeric with Boolean effects. However, most of these formalisms are undecidable. In this paper, we will analyze possible causes for this undecidability by studying the number of different…
Many exact search algorithms for NP-hard graph problems adopt the old Davis-Putman branch-and-reduce paradigm. The performance of these algorithms often suffers from the increasing number of graph modifications, such as vertex/edge…
Design patterns are elegant and well-tested solutions to recurrent software development problems. They are the result of software developers dealing with problems that frequently occur, solving them in the same or a slightly adapted way. A…
Finding a \emph{single} best solution is the most common objective in combinatorial optimization problems. However, such a single solution may not be applicable to real-world problems as objective functions and constraints are only…
Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models contain information that is useful for planning, however an…
Multi-agent path finding (MAPF) in large networks is computationally challenging. An approach for MAPF is prioritized planning (PP), in which agents plan sequentially according to their priority. Albeit a computationally efficient approach…
Algorithms for continuous optimization problems have a rich history of design and innovation over the past several decades, in which mathematical analysis of their convergence and complexity properties plays a central role. Besides their…
We describe several algorithms for matrix completion and matrix approximation when only some of its entries are known. The approximation constraint can be any whose approximated solution is known for the full matrix. For low rank…
Humans have come to rely on machines for reducing excessive information to manageable representations. But this reliance can be abused -- strategic machines might craft representations that manipulate their users. How can a user make good…
We consider mappings, which are structure consisting of a single function (and possibly some number of unary relations) and address the problem of approximating a continuous mapping by a finite mapping. This problem is the inverse problem…
This paper presents a preliminary conceptual investigation into an environment representation that has constant space complexity with respect to the camera image space. This type of representation allows the planning algorithms of a mobile…
Classical planning representation languages based on first-order logic have preliminarily been used to model and solve robotic task planning problems. Wider adoption of these representation languages, however, is hindered by the limitations…