Related papers: Coordination-free Multi-robot Path Planning for Co…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
Multi-robot path planning is difficult due to the combinatorial explosion of the search space with every new robot added. Complete search of the combined state-space soon becomes intractable. In this paper we present a novel form of…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
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…
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,…
This paper addresses planning and control of robot motion under uncertainty that is formulated as a continuous-time, continuous-space stochastic optimal control problem, by developing a topology-guided path integral control method. The path…
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,…
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…
Multi-robot motion planning for high degree-of-freedom manipulators in shared, constrained, and narrow spaces is a complex problem and essential for many scenarios such as construction, surgery, and more. Traditional coupled methods plan…
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…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
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…
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…
We propose a generic multi-robot planning mechanism that combines an optimal task planner and an optimal path planner to provide a scalable solution for complex multi-robot planning problems. The Integrated planner, through the interaction…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…