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Safe path planning is critical for bipedal robots to operate in safety-critical environments. Common path planning algorithms, such as RRT or RRT*, typically use geometric or kinematic collision check algorithms to ensure collision-free…
Safe Interval Path Planning (SIPP) is a powerful algorithm for solving single-agent pathfinding problem when the agent is confined to a graph and certain vertices/edges of this graph are blocked at certain time intervals due to dynamic…
Max Restricted Path Consistency (maxRPC) is a local consistency for binary constraints that can achieve considerably stronger pruning than arc consistency. However, existing maxRRC algorithms suffer from overheads and redundancies as they…
We study the algorithmic problem of optimally covering a tree with $k$ mobile robots. The tree is known to all robots, and our goal is to assign a walk to each robot in such a way that the union of these walks covers the whole tree. We…
As mobile robots and autonomous vehicles become increasingly prevalent in human-centred environments, there is a need to control the risk of collision. Perceptual modules, for example machine vision, provide uncertain estimates of object…
This paper proposes multiple extensions to the popular bicriterion transit routing approach -- Trip-Based Transit Routing (TBTR). Specifically, building on the premise of the HypRAPTOR algorithm, we first extend TBTR to its partitioning…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…
Line coverage is to cover linear infrastructure modeled as 1D segments by robots, which received attention in recent years. With the increasing urbanization, the area of the city and the density of infrastructure continues to increase,…
This paper proposes earliest and latest path algorithms based on binary weight allocation, assigning weights of 2(i-1) and 2(m-i) to the i-th arc in a network. While traditional shortest path algorithms optimize only distance, our approach…
Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for long trips. This work proposes an anytime iterative system…
The GC problem is to identify a pre-determined number of center vertices such that the distances or costs from (or to) the centers to (or from) other vertices is minimized. The bottleneck of a path is the minimum capacity of edges on the…
This paper is concerned with problems relevant to motion planning in robotics. Configuration spaces are of practical relevance in designing safe control schemes for robots moving on a track. The topological complexity of a configuration…
We study a variant of the Coordinated Motion Planning problem on undirected graphs, referred to herein as the \textsc{Coordinated Sliding-Motion Planning} (CSMP) problem. In this variant, we are given an undirected graph $G$, $k$ robots…
A ride sharing problem is considered where we are given a graph, whose edges are equipped with a travel cost, plus a set of objects, each associated with a transportation request given by a pair of origin and destination nodes. A vehicle…
In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem…
We consider several combinatorial optimization problems which combine the classic shop scheduling problems, namely open shop scheduling or job shop scheduling, and the shortest path problem. The objective of the obtained problem is to…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
Given a reconfigurable system X, such as a robot moving on a grid or a set of particles traversing a graph without colliding, the possible positions of X naturally form a cubical complex S(X). When S(X) is a CAT(0) space, we can explicitly…
This paper considers a natural fault-tolerant shortest paths problem: for some constant integer $f$, given a directed weighted graph with no negative cycles and two fixed vertices $s$ and $t$, compute (either explicitly or implicitly) for…
The efficiency of sampling-based motion planning brings wide application in autonomous mobile robots. The conventional rapidly exploring random tree (RRT) algorithm and its variants have gained significant successes, but there are still…