Related papers: Sequential parametrized motion planning and its co…
We consider the problem of robot motion planning in an oriented Riemannian manifold as a topological motion planning problem in its oriented frame bundle. For this purpose, we study the topological complexity of oriented frame bundles,…
We present a sample-based motion planning algorithm specialised to a class of underactuated systems using path parameterisation. The structure this class presents under a path parameterisation enables the trivial computation of dynamic…
We consider the problem of connected coordinated motion planning for a large collective of simple, identical robots: From a given start grid configuration of robots, we need to reach a desired target configuration via a sequence of…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
This paper is concerned with problems relevant to motion planning in robotics. Configuration spaces are of practical relevance in designing safe control schemes for robots moving on a track. The topological complexity of a configuration…
We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming…
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…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…
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,…
Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…
This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled…
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…
Realistic path planning applications often require optimizing with respect to several criteria simultaneously. Here we introduce an efficient algorithm for bi-criteria path planning on graphs. Our approach is based on augmenting the state…
We study a variant of the Coordinated Motion Planning problem on undirected graphs, referred to herein as the \textsc{Coordinated Sliding-Motion Planning} (CSMP) problem. In this variant, we are given an undirected graph $G$, $k$ robots…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
It has been observed that the very important motion planning problem of robotics mathematically speaking boils down to the problem of finding a section to the path-space fibration, raising the notion of topological complexity, as introduced…