Related papers: Priority-based coordination of mobile robots

This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…

Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing…

A significant portion of roads, particularly in densely populated developing countries, lacks explicitly defined right-of-way rules. These understructured roads pose substantial challenges for autonomous vehicle motion planning, where…

In this paper, a cooperative decision-making is presented, which is suitable for intention-aware automated vehicle functions. With an increasing number of highly automated and autonomous vehicles on public roads, trust is a very important…

In general, there are two kinds of cooperative driving strategies, planning based strategy and ad hoc negotiation based strategy, for connected and automated vehicles (CAVs) merging problems. The planning based strategy aims to find the…

This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…

With the development of robotics and artificial intelligence field unceasingly thorough, path planning as an important field of robot calculation has been widespread concern. This paper analyzes the current development of robot and path…

Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…

We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free for an arbitrarily large number of robots or the results…

Nowadays, robots are applied in dynamic environments. For a robust operation, the motion planning module must consider other tasks besides reaching a specified pose: (self) collision avoidance, joint limit avoidance, keeping an advantageous…

This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…

Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…

Methods for centralized planning of the collision-free trajectories for a fleet of mobile robots typically solve the discretized version of the problem and rely on numerous simplifying assumptions, e.g. moves of uniform duration, cardinal…

This work addresses the problem of autonomous traffic management at an isolated intersection for connected and automated vehicles. We decompose the trajectory of each vehicle into two phases: the provisional phase and the coordinated phase.…

We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…

Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…

The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…

Recent years have seen an increasing number of deployment of fleets of autonomous vehicles. As the problem scales up, in terms of autonomous vehicles number and complexity of their objectives, there is a growing need for decision-support…