Related papers: NEPTUNE: Nonentangling Trajectory Planning for Mul…
Tethered robots play a pivotal role in specialized environments such as disaster response and underground exploration, where their stable power supply and reliable communication offer unparalleled advantages. However, their motion planning…
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 paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
The main contribution of this paper is the proof of the convexity of the omni-directional tethered robot workspace (namely, the set of all tether-length-admissible robot configurations), as well as a set of distance-optimal tethered path…
We consider the problem of optimal path planning in different homotopy classes in a given environment. Though important in robotics applications, path-planning with reasoning about homotopy classes of trajectories has typically focused on…
Unmanned aerial vehicles (UAVs) have attracted plenty of attention due to their high flexibility and enhanced communication ability. However, the limited coverage and energy of UAVs make it difficult to provide timely wireless service for…
This paper introduces CoralGuide, a novel framework designed for path planning and trajectory optimization for tethered multi-robot systems. We focus on marine robotics, which commonly have tethered configurations of an Autonomous Surface…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capabilities of the quadruped robot are anisotropic along…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…
Unmanned Aerial Vehicles (UAVs) are poised to revolutionize communications. Utilizing their flexibility and fast deployment, we can deliver content in congested areas or provide services in areas without infrastructure. In this paper, we…
Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectory in multi-UAV non-cooperative scenarios while collecting data from distributed Internet of Things (IoT) nodes…
Recently, centralized receding horizon online multi-robot coverage path planning algorithms have shown remarkable scalability in thoroughly exploring large, complex, unknown workspaces with many robots. In a horizon, the path planning and…
In the last decade, a great effort has been employed in the study of Hybrid Unmanned Aerial Underwater Vehicles, robots that can easily fly and dive into the water with different levels of mechanical adaptation. However, most of this…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
This article presents a framework and develops a formulation to solve a path planning problem for multiple heterogeneous Unmanned Vehicles (UVs) with uncertain service times for each vehicle--target pair. The vehicles incur a penalty…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…