Related papers: On Multi-Robot Path Planning Based on Petri Net Mo…

This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…

This work studies the planning problem for robotic systems under both quantifiable and unquantifiable uncertainty. The objective is to enable the robotic systems to optimally fulfill high-level tasks specified by Linear Temporal Logic (LTL)…

In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…

In environments like offices, the duration of a robot's navigation between two locations may vary over time. For instance, reaching a kitchen may take more time during lunchtime since the corridors are crowded with people heading the same…

This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…

Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…

In this letter, we consider the Multi-Robot Efficient Search Path Planning (MESPP) problem, where a team of robots is deployed in a graph-represented environment to capture a moving target within a given deadline. We prove this problem to…

In this paper, we propose a novel methodology for path planning and scheduling for multi-robot navigation that is based on optimal transport theory and model predictive control. We consider a setup where $N$ robots are tasked to navigate to…

In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…

This paper investigates the planning and control problems for multi-robot systems under linear temporal logic (LTL) specifications. In contrast to most of existing literature, which presumes a static and known environment, our study focuses…

In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…

This study deals with the problem of task and motion planning of autonomous systems within the context of high-level tasks. Specifically, a task comprises logical requirements (conjunctions, disjunctions, and negations) on the trajectories…

Past research into robotic planning with temporal logic specifications, notably Linear Temporal Logic (LTL), was largely based on a single formula for individual or groups of robots. But with increasing task complexity, LTL formulas…

This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…

This paper considers the motion control and task planning problem of mobile robots under complex high-level tasks and human initiatives. The assigned task is specified as Linear Temporal Logic (LTL) formulas that consist of hard and soft…

We propose a generic multi-robot planning mechanism that combines an optimal task planner and an optimal path planner to provide a scalable solution for complex multi-robot planning problems. The Integrated planner, through the interaction…

Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…

This paper addresses the challenge of planning a sequence of tasks to be performed by multiple robots while minimizing the overall completion time subject to timing and precedence constraints. Our approach uses the Timed Partial Orders…

We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…