Related papers: Scalable Multi-robot Motion Planning for Congested…
Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements…
We consider the unlabeled motion-planning problem of $m$ unit-disc robots moving in a simple polygonal workspace of $n$ edges. The goal is to find a motion plan that moves the robots to a given set of $m$ target positions. For the unlabeled…
In this paper we present a method for automatically planning robust 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…
Optimal Multi-Robot Path Planning (MRPP) has garnered significant attention due to its many applications in domains including warehouse automation, transportation, and swarm robotics. Current MRPP solvers can be divided into…
We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
Motion planning (MP) is one of the core robotics problems requiring fast methods for finding a collision-free robot motion path connecting the given start and goal states. Neural motion planners (NMPs) demonstrate fast computational speed…
In this work, we systematically examine the application of spatio-temporal splitting heuristics to the Multi-Robot Motion Planning (MRMP) problem in a graph-theoretic setting: a problem known to be NP-hard to optimally solve. Following the…
Symbolic motion planning for robots is the process of specifying and planning robot tasks in a discrete space, then carrying them out in a continuous space in a manner that preserves the discrete-level task specifications. Despite progress…
This paper considers the motion planning problem for multiple tethered planar mobile robots. Each robot is attached to a fixed base by a flexible cable. Since the robots share a common workspace, the interactions amongst the robots, cables,…
We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
The presence of task constraints imposes a significant challenge to motion planning. Despite all recent advancements, existing algorithms are still computationally expensive for most planning problems. In this paper, we present Constrained…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…