Related papers: General Optimization Framework for Recurrent Reach…

Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for long trips. This work proposes an anytime iterative system…

Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…

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…

This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…

We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…

Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…

Efficient tabletop rearrangement planning seeks to find high-quality solutions while minimizing total cost. However, the task is challenging due to object dependencies and limited buffer space for temporary placements. The complexity…

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…

We study a problem of scheduling real-time traffic with hard delay constraints in an unreliable wireless channel. Packets arrive at a constant rate to the network and have to be delivered within a fixed number of slots in a fading wireless…

Current directions in network routing research have not kept pace with the latest developments in network architectures, such as peer-to-peer networks, sensor networks, ad-hoc wireless networks, and overlay networks. A common characteristic…

We examine the problem of maximizing the reachability of a given source in temporal graphs that are given as the union of k temporal paths, i.e., every given path is a sequence of edges with strictly increasing labels that denote…

The paper presents an experimental study of resilient path planning for con-tinuum robots taking into account the multi-objective optimisation problem. To do this, we used two well-known algorithms, namely Genetic algorithm and A*…

Object Goal Navigation requires a robot to find and navigate to an instance of a target object class in a previously unseen environment. Our framework incrementally builds a semantic map of the environment over time, and then repeatedly…

Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…

Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…

Standard algorithms for reachability analysis of timed automata are sensitive to the order in which the transitions of the automata are taken. To tackle this problem, we propose a ranking system and a waiting strategy. This paper discusses…

We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…

In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…

In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…

We consider concurrent games played on graphs. At every round of a game, each player simultaneously and independently selects a move; the moves jointly determine the transition to a successor state. Two basic objectives are the safety…