Related papers: Path Planning for Minimizing the Expected Cost unt…

This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…

Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…

An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…

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…

A graph environment must be explored by a collection of mobile robots. Some of the robots, a priori unknown, may turn out to be unreliable. The graph is weighted and each node is assigned a deadline. The exploration is successful if each…

The labeled MRPP (Multi-Robot Path Planning) problem involves routing robots from start to goal configurations efficiently while avoiding collisions. Despite progress in solution quality and runtime, its complexity and industrial relevance…

In this paper, we address the problem of scheduling a set of robots to complete tasks in a laboratory environment, modelled as a graph, while avoiding collisions. We analyze the dynamic programming algorithm (PA) introduced in…

In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…

Informative path planning algorithms are of paramount importance in applications like disaster management to efficiently gather information through a priori unknown environments. This is, however, a complex problem that involves finding a…

We propose an exact algorithm for solving the longest simple path problem between two given vertices in undirected weighted graphs. By using graph partitioning and dynamic programming, we obtain an algorithm that is significantly faster…

Recently, centralized receding horizon online multi-robot coverage path planning algorithms have shown remarkable scalability in thoroughly exploring large, complex, unknown workspaces with many robots. In a horizon, the path planning and…

The Elementary Shortest-Path Problem(ESPP) seeks a minimum cost path from s to t that visits each vertex at most once. The presence of negative-cost cycles renders the problem NP-hard. We present a probabilistic method for finding…

In this extended abstract, we report on ongoing work towards an approximate multimodal optimization algorithm with asymptotic guarantees. Multimodal optimization is the problem of finding all local optimal solutions (modes) to a path…

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…

As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and energy-efficient trajectories. In this article, we…

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,…

A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several…

In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…

Finding optimal paths in connected graphs requires determining the smallest total cost for traveling along the graph's edges. This problem can be solved by several classical algorithms where, usually, costs are predefined for all edges.…

In this paper, we consider the Constant-cost Orienteering Problem (COP) where a robot, constrained by a limited travel budget, aims at selecting a path with the largest reward in an aisle-graph. The aisle-graph consists of a set of loosely…