Related papers: Sequential path planning for a formation of mobile…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
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…
We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
We consider the motion-planning problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time…
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
Effective communication is key to successful, decentralized, multi-robot path planning. Yet, it is far from obvious what information is crucial to the task at hand, and how and when it must be shared among robots. To side-step these issues…
Most of the existing formation algorithms for multiagent systems are fully label-specified, i.e., the desired position for each agent in the formation is uniquely determined by its label, which would inevitably make the formation algorithms…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Efficient routing of mobile robot fleets is crucial in intralogistics, where delays and deadlocks can substantially reduce system throughput. Roadmap design, specifying feasible transport routes, directly affects fleet coordination and…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…