Related papers: Approximate Time-Optimal Trajectories for Damped D…

DCOP algorithms usually rely on interaction graphs to operate. In open and dynamic environments, such methods need to address how this interaction graph is generated and maintained among agents. Existing methods require reconstructing the…

Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…

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…

Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…

We propose a method for analyzing the distributed random coordinate descent algorithm for solving separable resource allocation problems in the context of an open multiagent system, where agents can be replaced during the process. In…

In dense and dynamic scenarios, planning a safe and comfortable trajectory is full of challenges when traffic participants are driving at high speed. The classic graph search and sampling methods first perform path planning and then…

We consider a two-road dynamic routing game where the state of one of the roads (the "risky road") is stochastic and may change over time. This generates room for experimentation. A central planner may wish to induce some of the (finite…

We consider the problem of using an autonomous agent to persistently monitor a collection of dynamic targets distributed in an environment. We generalize existing work by allowing the agent's dynamics to vary throughout the environment,…

We present faster algorithms for approximate maximum flow in undirected graphs with good separator structures, such as bounded genus, minor free, and geometric graphs. Given such a graph with $n$ vertices, $m$ edges along with a recursive…

Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable…

This paper addresses distributed average tracking for a group of physical double-integrator agents under an undirected graph with reduced requirement on velocity measurements. The idea is that multiple agents track the average of multiple…

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…

Accurately predicting interactive road agents' future trajectories and planning a socially compliant and human-like trajectory accordingly are important for autonomous vehicles. In this paper, we propose a planning-centric prediction neural…

We investigate a distributed optimization problem over a cooperative multi-agent time-varying network, where each agent has its own decision variables that should be set so as to minimize its individual objective subject to local…

This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…

Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…

In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…

This work proposes multi-agent systems setting for concurrent engineering system design optimization and gradually paves the way towards examining graph theoretic constructs in the context of multidisciplinary design optimization problem.…

We study the problem of computing a minimum equivalent digraph (also known as the problem of computing a strong transitive reduction) and its maximum objective function variant, with two types of extensions. First, we allow to declare a set…

Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…