Related papers: Multi-Robot Coordinated Planning in Confined Envir…
Agricultural environments present high proportions of spatially dense navigation bottlenecks for long-term navigation and operational planning of agricultural mobile robots. The existing agent-centric multi-robot path planning (MRPP)…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
We consider the problem of indoor building-scale social navigation, where the robot must reach a point goal as quickly as possible without colliding with humans who are freely moving around. Factors such as varying crowd densities,…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
This paper addresses a new semantic multi-robot planning problem in uncertain and dynamic environments. Particularly, the environment is occupied with non-cooperative, mobile, uncertain labeled targets. These targets are governed by…
Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…
There are many challenges for robot navigation in densely populated dynamic environments. This paper presents a survey of the path planning methods for robot navigation in dense environments. Particularly, the path planning in the…
In communication restricted environments, a multi-robot system can be deployed to either: i) maintain constant communication but potentially sacrifice operational efficiency due to proximity constraints or ii) allow disconnections to…
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…
With the development of science and technology, mobile robots are playing a significant important role in the new round of world revolution. Further, mobile robots might assist or replace human beings in a great number of areas. To increase…
In this article, a novel combined aerial cooperative tethered carrying and path planning framework is introduced with a special focus on applications in confined environments. The proposed work is aiming towards solving the path planning…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…
Motion planning under differential constraints, kinodynamic motion planning, is one of the canonical problems in robotics. Currently, state-of-the-art methods evolve around kinodynamic variants of popular sampling-based algorithms, such as…
Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem in on-orbit assembly of large-scale space structures. The closed-chain constraints…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
We study the effectiveness of metrics for Multi-Robot Motion-Planning (MRMP) when using RRT-style sampling-based planners. These metrics play the crucial role of determining the nearest neighbors of configurations and in that they regulate…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…