Related papers: Optimal Multi-Robot Motion Planning via Parabolic …
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…
In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as…
Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…
This work presents Adaptive Robot Coordination (ARC), a novel hybrid framework for multi-robot motion planning (MRMP) that employs local subproblems to resolve inter-robot conflicts. ARC creates subproblems centered around conflicts, and…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
In this letter, an integrated task planning and reactive motion planning framework termed Multi-FLEX is presented that targets real-world, industrial multi-robot applications. Reactive motion planning has been attractive for the purposes of…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on motion planning for one particular setup wherein a six-legged…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…
In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The…
Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization…
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…
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…
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…
In this work, we propose a method for multiple mobile robot motion planning that efficiently plans for robot teams up to 128 robots (an order of magnitude larger than existing state-of-the-art methods) in congested settings with narrow…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
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…