Related papers: On Multi-Robot Path Planning Based on Petri Net Mo…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
This paper proposes a new reactive temporal logic planning algorithm for multiple robots that operate in environments with unknown geometry modeled using occupancy grid maps. The robots are equipped with individual sensors that allow them…
In this paper, we investigate the optimal robot path planning problem for high-level specifications described by co-safe linear temporal logic (LTL) formulae. We consider the scenario where the map geometry of the workspace is…
We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonholonomic dynamics. Existing methods in multi-agent motion…
Path planning for multiple robots (MRPP) represents a task of finding non-colliding paths for robots through which they can navigate from their initial positions to specified goal positions. The problem is usually modeled using undirected…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs). We consider a time critical search and rescue scenario with two quadrotors in a constrained environment.…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
This paper presents an incremental replanning algorithm, dubbed LTL-D*, for temporal-logic-based task planning in a dynamically changing environment. Unexpected changes in the environment may lead to failures in satisfying a task…
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…
Computation load-sharing across a network of heterogeneous robots is a promising approach to increase robots capabilities and efficiency as a team in extreme environments. However, in such environments, communication links may be…
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…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
In this paper, we develop a computational framework for fully automatic deployment of a team of unicycles from a global specification given as an LTL formula over some regions of interest. Our hierarchical approach consists of four steps:…
One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
We study the problem of selecting a fleet of robots to service spatially distributed tasks with diverse requirements within time-windows. The problem of allocating tasks to a fleet of potentially heterogeneous robots and finding an optimal…
We study the problem of optimal multi-robot path planning on graphs MPP over four distinct minimization objectives: the makespan (last arrival time), the maximum (single-robot traveled) distance, the total arrival time, and the total…
We present a method to generate a robot control strategy that maximizes the probability to accomplish a task. The task is given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied at the regions of a…
In this paper, we investigate the problem of linear temporal logic (LTL) path planning for multi-agent systems, introducing the new concept of \emph{ordering constraints}. Specifically, we consider a generic objective function that is…