Related papers: Coordinated Motion Planning: Reconfiguring a Swarm…
The main contribution of this paper is the proof of the convexity of the omni-directional tethered robot workspace (namely, the set of all tether-length-admissible robot configurations), as well as a set of distance-optimal tethered path…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
This paper reports a novel result: with proper robot models on matrix Lie groups, one can formulate the kinodynamic motion planning problem for rigid body systems as \emph{exact} polynomial optimization problems that can be relaxed as…
This paper addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…
The mobile robot dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
Over the years, much research involving mobile computational entities has been performed. From modeling actual microscopic (and smaller) robots, to modeling software processes on a network, many important problems have been studied in this…
Robot swarms navigating through unknown obstacle environments are an emerging research area that faces challenges. Performing tasks in such environments requires swarms to achieve autonomous localization, perception, decision-making,…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
In this paper we consider the coupled task scheduling problem with exact delay times on a single machine with the objective of minimizing the total completion time of the jobs. We provide constant-factor approximation algorithms for several…
We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a sensor for its nearby teammates. We formalize CL-MRMP as a…
For multi-limbed robots, motion planning with posture and force constraints tends to be a difficult optimization problem due to nonlinearities, which also present extended solve times. We propose a multi-stage optimization framework with…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
Motivated by the problem of scheduling electric vehicle (EV) charging with a minimum charging threshold in smart distribution grids, we introduce the resource allocation problem (RAP) with a symmetric separable convex objective function and…
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…
We consider the problem of computing compact routing tables for a (weighted) planar graph $G:= (V, E,w)$ in the PRAM, CONGEST, and the novel HYBRID communication model. We present algorithms with polylogarithmic work and communication that…
We consider the classic problem of scheduling jobs with precedence constraints on identical machines to minimize makespan, in the presence of communication delays. In this setting, denoted by $\mathsf{P} \mid \mathsf{prec}, c \mid…
Constrained robot motion planning is a ubiquitous need for robots interacting with everyday environments, but it is a notoriously difficult problem to solve. Many sampled points in a sample-based planner need to be rejected as they fall…