Related papers: Minimum Displacement Motion Planning for Movable O…
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning…
We study the problem of path planning for unlabeled (indistinguishable) unit-disc robots in a planar environment cluttered with polygonal obstacles. We introduce an algorithm which minimizes the total path length, i.e., the sum of lengths…
We study optimization problems for partially hinged rectangular plates, modeling bridge roadways, in the presence of real and artificial obstacles. Real obstacles represent structural constraints to avoid, while artificial ones are…
This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten…
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…
We study motion planning algorithms for collision free control of multiple objects in the presence of moving obstacles. We compute the topological complexity of algorithms solving this problem. We apply topological tools and use information…
In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…
In this paper we study multi-robot path planning for persistent monitoring tasks. We consider the case where robots have a limited battery capacity with a discharge time $D$. We represent the areas to be monitored as the vertices of a…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…
This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…
Characterizing the risk of operations is a fundamental requirement in robotics, and a crucial ingredient of safe planning. The problem is multifaceted, with multiple definitions arising in the vast recent literature fitting different…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
In this paper we introduce and study a new concept of parametrised topological complexity, a topological invariant motivated by the motion planning problem of robotics. In the parametrised setting, a motion planning algorithm has high…
The main constraint on relative position of geometric objects, used in spatial planning for computing the C-space maps (for example, in robotics, CAD, and packaging), is the relative non-overlapping of objects. This is the simplest…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
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…