Related papers: Anytime informed path re-planning and optimization…
Efficiently solving path planning problems for a large number of robots is critical to the successful operation of modern warehouses. The existing approaches adopt classical shortest path algorithms to plan in environments whose cells are…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their…
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…
Multi-robot path finding in dynamic environments is a highly challenging classic problem. In the movement process, robots need to avoid collisions with other moving robots while minimizing their travel distance. Previous methods for this…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Path planning for mobile robots in large dynamic environments is a challenging problem, as the robots are required to efficiently reach their given goals while simultaneously avoiding potential conflicts with other robots or dynamic…
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…
Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…
We study the iterative refinement of path planning for multiple robots, known as multi-agent pathfinding (MAPF). Given a graph, agents, their initial locations, and destinations, a solution of MAPF is a set of paths without collisions.…
We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
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…
In this paper, we investigate the possibility of applying plan transformations to general manipulation plans in order to specialize them to the specific situation at hand. We present a framework for optimizing execution and achieving higher…
Different methods are used for a mobile robot to go to a specific target location. These methods work in different ways for online and offline scenarios. In the offline scenario, an environment map is created once, and fixed path planning…
Building structures can allow a robot to surmount large obstacles, expanding the set of areas it can reach. This paper presents a planning algorithm to automatically determine what structures a construction-capable robot must build in order…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…