Related papers: Joint Communication-Motion Planning in Wireless-Co…
Purpose of Review. This review summarizes the broad roles that communication formats and technologies have played in enabling multi-robot systems. We approach this field from two perspectives: of robotic applications that need communication…
Autonomous driving demands reliable and efficient solutions to closely related problems such as decision-making and motion planning. In this work, decision-making refers specifically to highway lane selection, while motion planning involves…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
The communication energy in a wireless network of mobile autonomous agents should be defined to include the propulsion energy as well as the transmission energy used to facilitate information transfer. We therefore develop…
Motion planning is critical to realize the autonomous operation of mobile robots. As the complexity and randomness of robot application scenarios increase, the planning capability of the classical hierarchical motion planners is challenged.…
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…
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
We propose JFP, a Joint Future Prediction model that can learn to generate accurate and consistent multi-agent future trajectories. For this task, many different methods have been proposed to capture social interactions in the encoding part…
Moving in complex environments is an essential capability of intelligent mobile robots. Decades of research and engineering have been dedicated to developing sophisticated navigation systems to move mobile robots from one point to another.…
In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on local observations, this approach falters in complex…
Software-defined networking (SDN), which has been successfully deployed in the management of complex data centers, has recently been incorporated into a myriad of 5G networks to intelligently manage a wide range of heterogeneous wireless…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
We study the effectiveness of metrics for Multi-Robot Motion-Planning (MRMP) when using RRT-style sampling-based planners. These metrics play the crucial role of determining the nearest neighbors of configurations and in that they regulate…
This paper considers the motion planning problem for multiple tethered planar mobile robots. Each robot is attached to a fixed base by a flexible cable. Since the robots share a common workspace, the interactions amongst the robots, cables,…
Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods maintain low-level feasibility. Task and motion planning…
This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either…
Various primary user (PU) radios have been allocated into fixed frequency bands in the whole spectrum. A cognitive radio network (CRN) should be able to perform the wideband spectrum sensing (WSS) to detect temporarily unoccupied frequency…