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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…
A roadmap for a semi-algebraic set $S$ is a curve which has a non-empty and connected intersection with all connected components of $S$. Hence, this kind of object, introduced by Canny, can be used to answer connectivity queries (with…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
In crowded environments, individuals must navigate around other occupants to reach their destinations. Understanding and controlling traffic flows in these spaces is relevant for coordinating robot swarms and designing infrastructure for…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
Density of the reachable states can help understand the risk of safety-critical systems, especially in situations when worst-case reachability is too conservative. Recent work provides a data-driven approach to compute the density…
Semi-supervised learning provides an effective paradigm for leveraging unlabeled data to improve a model's performance. Among the many strategies proposed, graph-based methods have shown excellent properties, in particular since they allow…
In this paper, we propose a deterministic algorithm that approximates the optimal path cover on weighted undirected graphs. Based on the 1/2-Approximation Path Cover Algorithm by Moran et al., we add a procedure to remove the redundant…
In this paper we tackle the problem of persistently covering a complex non-convex environment with a team of robots. We consider scenarios where the coverage quality of the environment deteriorates with time, requiring to constantly revisit…
We propose faster algorithms for the following three optimization problems on $n$ collinear points, i.e., points in dimension one. The first two problems are known to be NP-hard in higher dimensions. 1- Maximizing total area of disjoint…
As the speed and the dynamic range of computer networks evolve, the issue of efficient traffic management becomes increasingly important. This work describes an approach to traffic management using explicit rate information provided to the…
This paper presents a tractable framework for data-driven synthesis of robustly safe control laws. Given noisy experimental data and some priors about the structure of the system, the goal is to synthesize a state feedback law such that the…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
We show that the following variant of labeling rotating maps is NP-hard, and present a polynomial approximation scheme for solving it. The input is a set of feature points on a map, to each of which a vertical bar of zero width is assigned.…
Let $\mathcal{W} \subset \mathbb{R}^2$ be a rectilinear polygonal environment (that is, a rectilinear polygon potentially with holes) with a total of $n$ vertices, and let $A,B$ be two robots, each modeled as an axis-aligned unit square,…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
Autonomous intersection management has the potential to reduce road traffic congestion and energy consumption. To realize this potential, efficient algorithms are needed. However, most existing studies locally optimize one intersection at a…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constraints, under which MPP problems have feasibility guarantee.…
A key challenge in robotics is the efficient generation of optimal robot motion with safety guarantees in cluttered environments. Recently, deterministic optimal sampling-based motion planners have been shown to achieve good performance…