Related papers: Multi-Robot Path Planning in Complex Environments …
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,…
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…
This letter presents a novel multi-robot task allocation and path planning method that considers robots' maximum range constraints in large-sized workspaces, enabling robots to complete the assigned tasks within their range limits. Firstly,…
For massive large-scale tasks, a multi-robot system (MRS) can effectively improve efficiency by utilizing each robot's different capabilities, mobility, and functionality. In this paper, we focus on the multi-robot coverage path planning…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
Coverage path planning (CPP) is the problem of finding a path that covers the entire free space of a confined area, with applications ranging from robotic lawn mowing to search-and-rescue. While for known environments, offline methods can…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and energy-efficient trajectories. In this article, we…
Finding the optimal embedding of networks into low-dimensional hyperbolic spaces is a challenge that received considerable interest in recent years, with several different approaches proposed in the literature. In general, these methods…
Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and…
Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
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…
Autonomous mobile robots operating in complex, dynamic environments face the dual challenge of navigating large-scale, structurally diverse spaces with static obstacles while safely interacting with various moving agents. Traditional…
We study Multi-Robot Coverage Path Planning (MCPP) on a 4-neighbor 2D grid G, which aims to compute paths for multiple robots to cover all cells of G. Traditional approaches are limited as they first compute coverage trees on a quadrant…
We present Model Predictive Planning (MPP), a trajectory planner for low-agility vehicles such as a fixed-wing aircraft to navigate obstacle-laden environments. MPP consists of (1) a multi-path planning procedure that identifies candidate…
Solving task planning problems involving multiple objects and multiple robotic arms poses scalability challenges. Such problems involve not only coordinating multiple high-DoF arms, but also searching through possible sequences of actions…
Recently, message-passing graph neural networks (MPNNs) have shown potential for solving combinatorial and continuous optimization problems due to their ability to capture variable-constraint interactions. While existing approaches leverage…
This work considers the path planning problem for a team of identical robots evolving in a known environment. The robots should satisfy a global specification given as a Linear Temporal Logic (LTL) formula over a set of regions of interest.…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…