Related papers: A Graph Isomorphism-based Decentralized Algorithm …
This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled…
We consider a team of mobile autonomous robots with the aim to cover a given set of targets. Each robot aims to select a target to cover and physically reach it by the final time in coordination with other robots given the locations of…
This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…
This paper addresses the challenges of exploration and navigation in unknown environments from the perspective of evolutionary swarm robotics. A key focus is on path formation, which is essential for enabling cooperative swarm robots to…
This paper introduces a set of customizable and novel cost functions that enable the user to easily specify desirable robot formations, such as a ``high-coverage'' infrastructure-inspection formation, while maintaining high relative pose…
The paradigms of transformational planning, case-based planning, and plan debugging all involve a process known as plan adaptation - modifying or repairing an old plan so it solves a new problem. In this paper we provide a…
This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…
Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base…
Rearranging deformable objects is a long-standing challenge in robotic manipulation for the high dimensionality of configuration space and the complex dynamics of deformable objects. We present a novel framework, Graph-Transporter, for…
In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…
Unlabeled motion planning involves assigning a set of robots to target locations while ensuring collision avoidance, aiming to minimize the total distance traveled. The problem forms an essential building block for multi-robot systems in…
This paper is concerned with problems relevant to motion planning in robotics. Configuration spaces are of practical relevance in designing safe control schemes for robots moving on a track. The topological complexity of a configuration…
This paper studies how utility graphs decomposition algorithms can be used to effectively search for Pareto-efficient outcomes in complex automated negotiation. We propose a number of algorithms that can efficiently handle high-dimensional…
Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided…
We propose a new method for defragmenting the module layout of a reconfigurable device, enabled by a novel approach for dealing with communication needs between relocated modules and with inhomogeneities found in commonly used FPGAs. Our…
In the modular robot reconfiguration problem, we are given $n$ cube-shaped modules (or robots) as well as two configurations, i.e., placements of the $n$ modules so that their union is face-connected. The goal is to find a sequence of moves…
Effective communication is key to successful, decentralized, multi-robot path planning. Yet, it is far from obvious what information is crucial to the task at hand, and how and when it must be shared among robots. To side-step these issues…
In the constraint programming framework, state-of-the-art static and dynamic decomposition techniques are hard to apply to problems with complete initial constraint graphs. For such problems, we propose a hybrid approach of these techniques…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
It is well-known that the graph isomorphism problem can be posed as an equivalent problem of determining whether an auxiliary graph structure contains a clique of specific order. However, the algorithms that have been developed so far for…