Related papers: Coordination-free Multi-robot Path Planning for Co…
Cooperative driving at isolated intersections attracted great interest and had been well discussed in recent years. However, cooperative driving in multi-intersection road networks remains to be further investigated, because many algorithms…
There are many challenges for robot navigation in densely populated dynamic environments. This paper presents a survey of the path planning methods for robot navigation in dense environments. Particularly, the path planning in the…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
We perform a systematic exploration of the principle of Space Utilization Optimization (SUO) as a heuristic for planning better individual paths in a decoupled multi-robot path planner, with applications to both one-shot and life-long…
This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
In communicationless environments, multi-robot systems must operate without the constant information exchange that many coordination strategies typically assume. This paper presents a novel dynamic epistemic planning framework that enables…
In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make…
Designing an efficient routing strategy is of great importance to alleviate traffic congestion in multilayer networks. In this work, we design an effective routing strategy for multilayer networks by comprehensively considering the roles of…
We focus on robot navigation in crowded environments. The challenge of predicting the motion of a crowd around a robot makes it hard to ensure human safety and comfort. Recent approaches often employ end-to-end techniques for robot control…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
In communication restricted environments, a multi-robot system can be deployed to either: i) maintain constant communication but potentially sacrifice operational efficiency due to proximity constraints or ii) allow disconnections to…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is…
This paper addresses path set planning that yields important applications in robot manipulation and navigation such as path generation for deformable object keypoints and swarms. A path set refers to the collection of finite agent paths to…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…