Related papers: Two algorithms for the package-exchange robot-rout…
This work proposes a method for effectively computing manipulation paths to rearrange similar objects in a cluttered space. The solution can be used to place similar products in a factory floor in a desirable arrangement or for retrieving a…
Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…
Nowadays, routing protocols have become a crucial part of the modern communication networks. A routing protocol's responsibility lies in determining the way routers communicate with each other in order to forward any kind of packets, from a…
All traditional methods of computing shortest paths depend upon edge-relaxation where the cost of reaching a vertex from a source vertex is possibly decreased if that edge is used. We introduce a method which maintains lower bounds as well…
Planning safe paths in 3D workspace for high DoF robotic systems, such as manipulators, is a challenging problem, especially when the environment is populated with the dynamic obstacles that need to be avoided. In this case the time…
Interval routing is a space efficient method to realize a distributed routing function. In this paper we show that every circular-arc graph allows a shortest path strict 2-interval routing scheme, i.e., by introducing a global order on the…
Routing and scheduling problems are fundamental problems in combinatorial optimization, and also have many applications. Most variations of these problems are NP-Hard, so we need to use heuristics to solve these problems on large instances,…
Given a set of pairwise disjoint polygonal obstacles in the plane, finding an obstacle-avoiding Euclidean shortest path between two points is a classical problem in computational geometry and has been studied extensively. The previous best…
This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Connect, propagates in both forward and backward directions in…
The packet routing problem asks to select routing paths that minimize the maximum edge congestion for a set of packets specified by source-destination vertex pairs. We revisit a semi-oblivious approach to this problem: each…
Two cooperating, autonomous mobile robots with arbitrary nonzero max speeds are placed at arbitrary initial positions in the plane. A remotely detonated bomb is discovered at some source location and must be moved to a safe distance away…
In logistics, the ability to quickly compute and execute pick-and-place motions from bins is critical to increasing productivity. We present Bin-Optimized Motion Planning (BOMP), a motion planning framework that plans arm motions for a…
The Jellyfish network has recently be proposed as an alternate to the fat-tree network as the interconnect for data centers and high performance computing clusters. Jellyfish adopts a random regular graph as its topology and has been showed…
We present a new $4$-approximation algorithm for the Combinatorial Motion Planning problem which runs in $\mathcal{O}(n^2\alpha(n^2,n))$ time, where $\alpha$ is the functional inverse of the Ackermann function, and a fully distributed…
We consider the problem of coordinating a fleet of robots in a warehouse so as to maximize the reward achieved within a time limit while respecting problem and robot specific constraints. We formulate the problem as a weighted set packing…
Tree rotations (left and right) are basic local deformations allowing to transform between two unlabeled binary trees of the same size. Hence, there is a natural problem of practically finding such transformation path with low number of…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
We address the path planning problem for a team of robots satisfying a complex high-level mission specification given in the form of an Linear Temporal Logic (LTL) formula. The state-of-the-art approach to this problem employs the…
Mobile robots often have limited battery life and need to recharge periodically. This paper presents an RRT- based path-planning algorithm that addresses battery power management. A path is generated continuously from the robot's current…
This study explores the problem of Multi-Agent Path Finding with continuous and stochastic travel times whose probability distribution is unknown. Our purpose is to manage a group of automated robots that provide package delivery services…