Related papers: Time-optimal Coordination of Mobile Robots along S…

This paper presents a new optimal filter namely past observation-based extended Kalman filter for the problem of localization of Internet-based mobile robot in which the control input and the feedback measurement suffer from communication…

We study the demand-robust fleet size vehicle routing problem with time windows and compatibility constraints. Unlike traditional robust optimization, which considers uncertainty in the data, demand-robust optimization considers uncertainty…

We develop a real-time feasible mixed-integer programming-based decision making (MIP-DM) system for automated driving. Using a linear vehicle model in a road-aligned coordinate frame, the lane change constraints, collision avoidance and…

This work casts the kinodynamic planning problem for car-like vehicles as an optimization task to compute a minimum-time trajectory and its associated velocity profile, subject to boundary conditions on velocity, acceleration, and steering.…

Time Optimal Path Parametrization is the problem of minimizing the time interval during which an actuation constrained agent can traverse a given path. Recently, an efficient linear-time algorithm for solving this problem was proposed.…

In this paper, we first present a centralized traffic control model based on the emerging dynamic path flows. This new model in essence views the whole target network as one integral piece in which traffic propagates based on traffic flow…

Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…

Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…

We study the Joint Routing-Assignment (JRA) problem in which items must be assigned one-to-one to placeholders while simultaneously determining a Hamiltonian cycle visiting all nodes exactly once. Extending previous exact MIP solvers with…

We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…

Motion planning and control are crucial components of robotics applications like automated driving. Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles) restrict the robot's motions. Direct…

Because an agents resources dictate what actions it can possibly take, it should plan which resources it holds over time carefully, considering its inherent limitations (such as power or payload restrictions), the competing needs of other…

This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…

This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…

Mixed integer bilinear programs (MIBLPs) offer tools to resolve robotics motion planning problems with orthogonal rotation matrices or static moment balance, but require long solving times. Recent work utilizing data-driven methods has…

This paper aims to introduce a mathematical model to solve the time-dependent electric vehicles routing problem in shared travels. Shared mobility has gained significance recently due to its contribution to the alleviation of traffic…

We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…

Finding optimal join orders is among the most crucial steps to be performed by query optimisers. Though extensively studied in data management research, the problem remains far from solved: While query optimisers rely on exhaustive search…

Multi-robot motion planning (MRMP) is the fundamental problem of finding non-colliding trajectories for multiple robots acting in an environment, under kinodynamic constraints. Due to its complexity, existing algorithms either utilize…

The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…