Related papers: Sequential path planning for a formation of mobile…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
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 address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
This paper investigates different methods to detect obstacles ahead of a robot using a camera in the robot, an aerial camera, and an ultrasound sensor. We also explored various efficient path finding methods for the robot to navigate to the…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
A motion planning algorithm computes the motion of a robot by computing a path through its configuration space. To improve the runtime of motion planning algorithms, we propose to nest robots in each other, creating a nested quotient-space…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
In this work we establish a simple yet effective strategy, based on optimal transport theory, for enabling a group of robots to accomplish complex tasks, such as shape formation and assembly. We demonstrate the feasibility of this approach…
We consider the configuration formation problem in modular robotic systems where a set of singleton modules that are spatially distributed in an environment are required to assume appropriate positions so that they can configure into a new,…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
We propose a novel algorithm to solve multi-robot motion planning (MRMP) rapidly, called Simultaneous Sampling-and-Search Planning (SSSP). Conventional MRMP studies mostly take the form of two-phase planning that constructs roadmaps and…
This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…
Coordinated multi-robot motion planning at intersections is key for safe mobility in roads, factories and warehouses. The rapidly exploring random tree (RRT) algorithms are popular in multi-robot motion planning. However, generating the…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
This paper presents a collection of path planning algorithms for real-time movement of multiple robots across a Robotic Mobile Fulfillment System (RMFS). Robots are assigned to move storage units to pickers at working stations instead of…
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…