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In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…
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…
The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…
Robots are becoming an increasingly common part of scientific work within laboratory environments. In this paper, we investigate the problem of designing \emph{schedules} for completing a set of tasks at fixed locations with multiple robots…
The challenges to solving the collision avoidance problem lie in adaptively choosing optimal robot velocities in complex scenarios full of interactive obstacles. In this paper, we propose a distributed approach for multi-robot navigation…
Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…
Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…
Safe operation of systems such as robots requires them to plan and execute trajectories subject to safety constraints. When those systems are subject to uncertainties in their dynamics, it is challenging to ensure that the constraints are…
The collaboration and interaction of multiple robots have become integral aspects of smart manufacturing. Effective planning and management play a crucial role in achieving energy savings and minimising overall costs. This paper addresses…
The problem of gathering multiple mobile robots to a single location, is one of the fundamental problems in distributed coordination between autonomous robots. The problem has been studied and solved even for robots that are anonymous,…
Path planning is a crucial algorithmic approach for designing robot behaviors. Sampling-based approaches, like rapidly exploring random trees (RRTs) or probabilistic roadmaps, are prominent algorithmic solutions for path planning problems.…
In this paper, we have considered two fully synchronous $\mathcal{OBLOT}$ robots having no agreement on coordinates entering a finite unoriented grid through a door vertex at a corner, one by one. There is a resource that can move around…
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…
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…
A widely accepted explanation for robots planning overcautious or overaggressive trajectories alongside human is that the crowd density exceeds a threshold such that all feasible trajectories are considered unsafe -- the freezing robot…
How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simulators that fail to capture the nuances of real human motion.…
In our prior work, we outlined an approach, named DisCoF, for cooperative pathfinding in distributed systems with limited sensing and communication range. Contrasting to prior works on cooperative pathfinding with completeness guarantees,…
A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with…
Recent advances in diffusion models hold significant potential in robotics, enabling the generation of diverse and smooth trajectories directly from raw representations of the environment. Despite this promise, applying diffusion models to…