Related papers: Informable Multi-Objective and Multi-Directional R…
For massive large-scale tasks, a multi-robot system (MRS) can effectively improve efficiency by utilizing each robot's different capabilities, mobility, and functionality. In this paper, we focus on the multi-robot coverage path planning…
Real-time dynamic path planning in complex traffic environments presents challenges, such as varying traffic volumes and signal wait times. Traditional static routing algorithms like Dijkstra and A* compute shortest paths but often fail…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. In the proposed centralized multi-robot planner, a simultaneous matching and routing problem (SMRP) is…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
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…
Coordinating teams of aerial robots in cluttered three-dimensional (3D) environments requires a principled integration of discrete mission planning-deciding which robot serves which goals and in what order -- with continuous-time trajectory…
Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…
The multiple-path orienteering problem asks for paths for a team of robots that maximize the total reward collected while satisfying budget constraints on the path length. This problem models many multi-robot routing tasks such as exploring…
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…
In this paper we schedule the travel path of a set of drones across a graph where the nodes need to be visited multiple times at pre-defined points in time. This is an extension of the well-known multiple traveling salesman problem. The…
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…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
The labeled MRPP (Multi-Robot Path Planning) problem involves routing robots from start to goal configurations efficiently while avoiding collisions. Despite progress in solution quality and runtime, its complexity and industrial relevance…
The multi-path Traveling Salesman Problem with stochastic travel costs arises in hybrid vehicle routing applications designed for Smart City and City Logistics, where multiple paths exist between each pair of locations. Travel times along…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
To operate with limited sensor horizons in unpredictable environments, autonomous robots use a receding-horizon strategy to plan trajectories, wherein they execute a short plan while creating the next plan. However, creating safe,…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. A simultaneous matching and routing problem (SMRP) is formulated to match the humans with robot guides…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…