Related papers: Robust Multiple-Path Orienteering Problem: Securin…
An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…
The Orthogonal Watchman Route Problem (OWRP) entails the search for the shortest path, known as the watchman route, that a robot must follow within a polygonal environment. The primary objective is to ensure that every point in the…
This paper addresses the problem of Multi-robot Coverage Path Planning (MCPP) for unknown environments in the presence of robot failures. Unexpected robot failures can seriously degrade the performance of a robot team and in extreme cases…
This paper considers the problem of assigning multiple mobile robots to goals on transport networks with uncertain information about travel times. Our aim is to produce optimal assignments, such that the average waiting time at destinations…
We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
This paper explores the Navigation Among Movable Obstacles (NAMO) problem and proposes joint path and push planning: which path to take and in what direction the obstacles should be pushed at, given a start and goal position. We present a…
The pursuit-evasion game in Smart City brings a profound impact on the Multi-vehicle Pursuit (MVP) problem, when police cars cooperatively pursue suspected vehicles. Existing studies on the MVP problems tend to set evading vehicles to move…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
Mobile robotic platforms are an indispensable tool for various scientific and industrial applications. Robots are used to undertake missions whose execution is constrained by various factors, such as the allocated time or their remaining…
The problem of assigning agents to tasks is a central computational challenge in many multi-agent autonomous systems. However, in the real world, agents are not always perfect and may fail due to a number of reasons. A motivating…
Multi-Robot Path Planning (MRPP) on graphs, equivalently known as Multi-Agent Path Finding (MAPF), is a well-established NP-hard problem with critically important applications. As serial computation in (near)-optimally solving MRPP…
We investigate the Optimal Obstacle Placement (OOP) problem under uncertainty, framed as the dual of the Optimal Traversal Path problem in the Stochastic Obstacle Scene paradigm. We consider both continuous domains, discretized for…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
Route planning for a fleet of vehicles is an important task in applications such as package delivery, surveillance, or transportation, often integrated within larger Intelligent Transportation Systems (ITS). This problem is commonly…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
In many unmanned aerial vehicle (UAV) applications for surveillance and data collection, it is not possible to reach all requested locations due to the given maximum flight time. Hence, the requested locations must be prioritized and the…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…
We address the challenge of multi-robot autonomous hazard mapping in high-risk, failure-prone, communication-denied environments such as post-disaster zones, underground mines, caves, and planetary surfaces. In these missions, robots must…
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…