Related papers: Multi-goal path planning using multiple random tre…
The Traveling Salesman Problem (TSP) is a well-known NP-hard combinatorial optimization problem with wide-ranging applications in logistics, routing, and intelligent systems. Due to its factorial complexity, solving large-scale instances…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics that asks us to compute collision-free paths for a team of agents, all moving across a shared map. Although many works appear on this topic, all current algorithms…
In many industrial robotics applications, such as spot-welding, spray-painting or drilling, the robot is required to visit successively multiple targets. The robot travel time among the targets is a significant component of the overall…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
Sampling-based planning algorithm is a powerful tool for solving planning problems in high-dimensional state spaces. In this article, we present a novel approach to sampling in the most promising regions, which significantly reduces…
Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
The travelling salesperson problem (TSP) is a classic resource allocation problem used to find an optimal order of doing a set of tasks while minimizing (or maximizing) an associated objective function. It is widely used in robotics for…
Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…
Solutions to the Traveling Salesperson Problem (TSP) have practical applications to processes in transportation, logistics, and automation, yet must be computed with minimal delay to satisfy the real-time nature of the underlying tasks.…
We tackle the problem of goal-directed graph construction: given a starting graph, a budget of modifications, and a global objective function, the aim is to find a set of edges whose addition to the graph achieves the maximum improvement in…
Sampling-based motion planning algorithms are widely used in robotics because they are very effective in high-dimensional spaces. However, the success rate and quality of the solutions are determined by an adequate selection of their…
In this article, we present a novel formulation for the load-dependent traveling salesman problem (LD-TSP), in which travel cost (or energy expended) depends on the vehicle's current load. This problem is relevant for package delivery and…
We propose a variant of the Rapidly Exploring Random Tree Star (RRT$^{\star}$) algorithm to synthesize trajectories satisfying a given spatio-temporal specification expressed in a fragment of Signal Temporal Logic (STL) for linear systems.…
Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be efficient in solving high dimensional problems. Even though…
Planning with pretrained diffusion models has emerged as a promising approach for solving test-time guided control problems. Standard gradient guidance typically performs optimally under convex, differentiable reward landscapes. However, it…
In this paper, we develop a non-uniform sampling approach for fast and efficient path planning of autonomous vehicles. The approach uses a novel non-uniform partitioning scheme that divides the area into obstacle-free convex cells. The…
Efficient and reliable generation of global path plans are necessary for safe execution and deployment of autonomous systems. In order to generate planning graphs which adequately resolve the topology of a given environment, many…
We consider a special case of the generalized minimum spanning tree problem (GMST) and the generalized travelling salesman problem (GTSP) where we are given a set of points inside the integer grid (in Euclidean plane) where each grid cell…
Multi-Agent Path finding (MAPF) is the problem of finding paths for a set of agents such that each agent reaches its desired destination while avoiding collisions with the other agents. This problem arises in many robotics applications,…