Related papers: Anytime informed path re-planning and optimization…
As environments involving both robots and humans become increasingly common, so does the need to account for people during planning. To plan effectively, robots must be able to respond to and sometimes influence what humans do. This…
In this paper, we introduce a method to deal with the problem of robot local path planning among pushable objects -- an open problem in robotics. In particular, we achieve that by training multiple agents simultaneously in a physics-based…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
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…
Informative path planning algorithms are of paramount importance in applications like disaster management to efficiently gather information through a priori unknown environments. This is, however, a complex problem that involves finding a…
Safe-interval path planning (SIPP) is a powerful algorithm for finding a path in the presence of dynamic obstacles. SIPP returns provably optimal solutions. However, in many practical applications of SIPP such as path planning for robots,…
This paper presents evolutionary methods for optimization in dynamic mobile robot path planning. In dynamic mobile path planning, the goal is to find an optimal feasible path from starting point to target point with various obstacles, as…
The aim of this book is to introduce different robot path planning algorithms and suggest some of the most appropriate ones which are capable of running on a variety of robots and are resistant to disturbances. Being real-time, being…
In this paper, we propose a method to replan coverage paths for a robot operating in an environment with initially unknown static obstacles. Existing coverage approaches reduce coverage time by covering along the minimum number of coverage…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
This 'research preview' paper introduces an adaptive path planning framework for robotic mission execution in assistive-care applications. The framework provides a graph-based environment modelling approach, with dynamic path finding…
Motion planning in modified environments is a challenging task, as it compounds the innate difficulty of the motion planning problem with a changing environment. This renders some algorithmic methods such as probabilistic roadmaps less…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for long trips. This work proposes an anytime iterative system…
In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…
In this paper, we solve a multi-robot informative path planning (MIPP) task under the influence of uncertain communication and adversarial attackers. The goal is to create a multi-robot system that can learn and unify its knowledge of an…
This paper proposes a discretionary lane selection algorithm. In particular, highway driving is considered as a targeted scenario, where each lane has a different level of traffic flow. When lane-changing is discretionary, it is advised not…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…