Related papers: Path Planning with Kinematic Constraints for Robot…
This letter presents a novel multi-robot task allocation and path planning method that considers robots' maximum range constraints in large-sized workspaces, enabling robots to complete the assigned tasks within their range limits. Firstly,…
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…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
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…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem.…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
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…
In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
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…