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We study a group of new methods to solve an open problem that is the shortest paths problem on a given fix-weighted instance. It is the real significance at a considerable altitude to reach our aim to meet these qualities of generic,…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
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…
This paper proposes a local path planning method with a reachable set for Automated vertical Parking Systems (APS). First, given a parking lot layout with a goal position, we define an intermediate pose for the APS to accomplish reverse…
Different methods are used for a mobile robot to go to a specific target location. These methods work in different ways for online and offline scenarios. In the offline scenario, an environment map is created once, and fixed path planning…
Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and they block reachability to each other. Such constraints require…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
The main contribution of this paper is the proof of the convexity of the omni-directional tethered robot workspace (namely, the set of all tether-length-admissible robot configurations), as well as a set of distance-optimal tethered path…
We study the Symmetric Rendezvous Search Problem for a multi-robot system. There are $n>2$ robots arbitrarily located on a line. Their goal is to meet somewhere on the line as quickly as possible. The robots do not know the initial location…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
We present a new algorithm for the problem of universal gathering mobile oblivious robots (that is, starting from any initial configuration that is not bivalent, using any number of robots, the robots reach in a finite number of steps the…
In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by…
To enable safe and efficient human-robot collaboration in shared workspaces it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very…
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…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
This paper considers scheduling on identical machines. The scheduling objective considered in this paper generalizes most scheduling minimization problems. In the problem, there are $n$ jobs and each job $j$ is associated with a…
Parallel machine scheduling has been extensively studied in the past decades, with applications ranging from production planning to job processing in large computing clusters. In this work we study some of these fundamental optimization…
In many robotic manipulation scenarios, robots often have to perform highly-repetitive tasks in structured environments e.g. sorting mail in a mailroom or pick and place objects on a conveyor belt. In this work we are interested in settings…
We investigate the distributed planning of robot trajectories for optimal execution of cooperative tasks with time windows. In this setting, each task has a value and is completed if sufficiently many robots are simultaneously present at…
In Coordinated Motion Planning (CMP), we are given a rectangular-grid on which $k$ robots occupy $k$ distinct starting gridpoints and need to reach $k$ distinct destination gridpoints. In each time step, any robot may move to a neighboring…