Related papers: Multi-Robot Motion Planning for Unit Discs with Re…

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…

We study the problem of planning paths for a team of robots for visually monitoring an environment. Our work is motivated by surveillance and persistent monitoring applications. We are given a set of target points in a polygonal environment…

In this paper, we tackle the problem of planning an optimal coverage path for a robot operating indoors. Many existing approaches attempt to discourage turns in the path by covering the environment along the least number of coverage lines,…

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…

Motion planning is still an open problem for many disciplines, e.g., robotics, autonomous driving, due to their need for high computational resources that hinder real-time, efficient decision-making. A class of methods striving to provide…

Motion Planning (MP) is a critical challenge in robotics, especially pertinent with the burgeoning interest in embodied artificial intelligence. Traditional MP methods often struggle with high-dimensional complexities. Recently neural…

This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…

This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…

In this paper we study paramertized motion planning algorithms which provide universal and flexible solutions to diverse motion planning problems. Such algorithms are intended to function under a variety of external conditions which are…

This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…

A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…

In this paper we introduce and study a new concept of parametrised topological complexity, a topological invariant motivated by the motion planning problem of robotics. In the parametrised setting, a motion planning algorithm has high…

Path planning has long been one of the major research areas in robotics, with PRM and RRT being two of the most effective classes of planners. Though generally very efficient, these sampling-based planners can become computationally…

We focus on multi-object rearrangement planning in densely cluttered environments using a car-like robot pusher. The combination of kinematic, geometric and physics constraints underlying this domain results in challenging nonmonotone…

Multi-robot motion planning is a hard problem. We investigate restricted variants of the problem where square robots are allowed to slide over an arbitrary curve to a new position only a constant number of times each. We show that the…

Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…

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…

To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…

Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…

We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…