Related papers: Collision-free Path Planning in the Latent Space t…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
This paper contributes a method to design a novel navigation planner exploiting a learning-based collision prediction network. The neural network is tasked to predict the collision cost of each action sequence in a predefined motion…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
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…
Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…
In the literature, a distributed consensus protocol by which a connected swarm of agents can generate artistic patterns in 2-dimensional space is proposed. Motivated by this protocol, in this paper, we design the parameters of this protocol…
We describe parametrised motion planning algorithms for systems controlling objects represented by points that move without collisions in an even dimensional Euclidean space and in the presence of up to three obstacles with \emph{a priori}…
In robotics, a topological theory of motion planning was initiated by M. Farber. The multitasking motion planning problem is new and its theoretical part via topological complexity has hardly been developed, but the concrete implementations…
In this paper, a novel method for path planning of mobile robots is proposed, taking into account the non-holonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate a…
In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…
In recent years, impressive results have been achieved in robotic manipulation. While many efforts focus on generating collision-free reference signals, few allow safe contact between the robot bodies and the environment. However, in…
We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot…
Multicopters with collision-resilient designs can operate with trajectories involving collisions. This paper presents a sampling-based method that can exploit collisions for better motion planning. The method is built upon the basis of the…
Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…
The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be both kinematically feasible (i.e., collision free) and…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
Several task and motion planning algorithms have been proposed recently to design paths for mobile robot teams with collaborative high-level missions specified using formal languages, such as Linear Temporal Logic (LTL). However, the…
Square grids are commonly used in robotics and game development as spatial models and well known in AI community heuristic search algorithms (such as A*, JPS, Theta* etc.) are widely used for path planning on grids. A lot of research is…
This paper considers the problem of designing motion planning algorithms for control-affine systems that generate collision-free paths from an initial to a final destination and can be executed using safe and dynamically-feasible…