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Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…
A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due to the nature of the task itself or from object-environment…
We consider the bi-criteria shortest-path problem where we want to compute shortest paths on a graph that simultaneously balance two cost functions. While this problem has numerous applications, there is usually no path minimizing both cost…
This paper revisits the origin of topology optimisation for fluid flow problems, namely the Poiseuille-based frictional resistance term used to parametrise regions of solid and fluid. The traditional model only works for true topology…
In this paper we aim to construct piecewise-linear (PWL) approximations for functions of multiple variables and to build compact mixed-integer linear programming (MILP) formulations to represent the resulting PWL function. On the one hand,…
Real-time motion planning is a vital function of robotic systems. Different from existing roadmap algorithms which first determine the free space and then determine the collision-free path, researchers recently proposed several convex…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
Sampling-based motion planners have proven to be efficient solutions to a variety of high-dimensional, geometrically complex motion planning problems with applications in several domains. The traditional view of these approaches is that…
Turning is the most commonly available and least expensive machining operation, in terms of both machine-hour rates and tool insert prices. A practical CNC process planner has to maximize the utilization of turning, not only to attain…
Finding shortest paths in a given network (e.g., a computer network or a road network) is a well-studied task with many applications. We consider this task under the presence of an adversary, who can manipulate the network by perturbing its…
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 consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
The paper introduces an asymptotically optimal lifelong sampling-based path planning algorithm that combines the merits of lifelong planning algorithms and lazy search algorithms for rapid replanning in dynamic environments where edge…
Existing motion planning methods often have two drawbacks: 1) goal configurations need to be specified by a user, and 2) only a single solution is generated under a given condition. In practice, multiple possible goal configurations exist…
This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
In this work, we use the matrix formulation of the Permutation Flowshop Scheduling Problem with makespan minimization to derive an upper bound and a general framework for obtaining lower bounds. The proposed framework involves solving a…
In this paper, we introduce an automata-based framework for planning with relaxed specifications. User relaxation preferences are represented as weighted finite state edit systems that capture permissible operations on the specification,…
In this paper we address several constrained transportation optimization problems (e.g. vehicle routing, shortest Hamiltonian path), for which we present novel algorithmic solutions and extensions, considering several optimization…
We present a method to find globally optimal topology and trajectory jointly for planar linkages. Planar linkage structures can generate complex end-effector trajectories using only a single rotational actuator, which is very useful in…