Related papers: Quotient-Space Motion Planning
Multi-robot Motion Planning (MRMP) is an active research field which has gained attention over the years. MRMP has significant roles to improve the efficiency and reliability of multi-robot system in a wide range of applications from…
Quantum multi-programming is a method utilizing contemporary noisy intermediate-scale quantum computers by executing multiple quantum circuits concurrently. Despite early research on it, the research remains on quantum gates or small-size…
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…
We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. Our approach uses offline learning of human actions along with temporal coherence to…
Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient and sometimes unrealistic. Hence, research has focused on…
Multi-Agent Path Finding (MAPF) is a long-standing problem in Robotics and Artificial Intelligence in which one needs to find a set of collision-free paths for a group of mobile agents (robots) operating in the shared workspace. Due to its…
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…
Autonomous agents such as self-driving cars or parcel robots need to recognize and avoid possible collisions with obstacles in order to move successfully in their environment. Humans, however, have learned to predict movements intuitively…
Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…
Planning a path for a mobile robot typically requires building a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating in an unknown environment, the map built by the robot online may have many…
The complexity of nearest-neighbor search dominates the asymptotic running time of many sampling-based motion-planning algorithms. However, collision detection is often considered to be the computational bottleneck in practice. Examining…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
We study optimal Multi-robot Path Planning (MPP) on graphs, in order to improve the efficiency of multi-robot system (MRS) in the warehouse-like environment. We propose a novel algorithm, OMRPP (One-way Multi-robot Path Planning) based on…
When robots entered our day-to-day life, the shared space surrounding humans and robots is critical for effective Human-Robot collaboration. The design of shared space should satisfy humans' preferences and robots' efficiency. This work…
This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…
We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner to find…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
Motion planning techniques for quadrotors have advanced significantly over the past decade. Most successful planners have two stages: a front-end that determines a path that incorporates geometric (or kinematic or input) constraints and…
Sampling-based motion planners are an effective means for generating collision-free motion paths. However, the quality of these motion paths (with respect to quality measures such as path length, clearance, smoothness or energy) is often…