Related papers: Efficient motion planning for problems lacking opt…
Motion planning can be cast as a trajectory optimisation problem where a cost is minimised as a function of the trajectory being generated. In complex environments with several obstacles and complicated geometry, this optimisation problem…
In this paper, we study the problem of coverage planning by a mobile robot with a limited energy budget. The objective of the robot is to cover every point in the environment while minimizing the traveled path length. The environment is…
We consider how to use the Bellman residual of the dynamic programming operator to compute suboptimality bounds for solutions to stochastic shortest path problems. Such bounds have been previously established only in the special case that…
Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we introduce the Unified Path Planner (UPP), a graph-search…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…
Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
The distributed single-source shortest paths problem is one of the most fundamental and central problems in the message-passing distributed computing. Classical Bellman-Ford algorithm solves it in $O(n)$ time, where $n$ is the number of…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
Robots have been operating in dynamic environments and shared workspaces for decades. Most optimization based motion planning methods, however, do not consider the movement of other agents, e.g. humans or other robots, and therefore do not…
We demonstrate that challenging shortest path problems can be solved via direct spline regression from a neural network, trained in an unsupervised manner (i.e. without requiring ground truth optimal paths for training). To achieve this, we…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…
This paper presents an optimal $\Theta(n \log n)$ algorithm for determining time-minimal rectilinear paths among $n$ transient rectilinear obstacles. An obstacle is transient if it exists in the scene only for a specific time interval,…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
The Constraint Shortest Path (CSP) problem is as follows. An $n$-vertex graph is given, each edge/arc assigned two weights. Let us call them "cost" and "length" for definiteness. Finding a min-cost upper-bounded length path between a given…
In this paper the computational challenges of time-optimal path following are addressed. The standard approach is to minimize the travel time, which inevitably leads to singularities at zero path speed, when reformulating the optimization…
We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that…