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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…
We study the problem of planning the deployments of a group of mobile robots. While the problem and formulation can be used for many different problems, here we use a bridge inspection as the motivating application for the purpose of…
The protection of pathways holds immense significance across various domains, including urban planning, transportation, surveillance, and security. This article introduces a groundbreaking approach to safeguarding pathways by employing…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
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.…
We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…
The on-line shortest path problem is considered under various models of partial monitoring. Given a weighted directed acyclic graph whose edge weights can change in an arbitrary (adversarial) way, a decision maker has to choose in each…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
In this invited contribution, we revisit the stochastic shortest path problem, and show how recent results allow one to improve over the classical solutions: we present algorithms to synthesize strategies with multiple guarantees on the…
The energy-efficient trip allocation of mobile robots employing differential drives for data retrieval from stationary sensor locations is the scope of this article. Given a team of robots and a set of targets (wireless sensor nodes), the…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
We present a novel path-planning algorithm to reduce localization error for a network of robots cooperatively localizing via inter-robot range measurements. The quality of localization with range measurements depends on the configuration of…
The virtualization and softwarization of modern computer networks introduces interesting new opportunities for a more flexible placement of network functions and middleboxes (firewalls, proxies, traffic optimizers, virtual switches, etc.).…
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…
The minimum-time path for intercepting a moving target with a prescribed impact angle is studied in the paper. The candidate paths from Pontryagin's maximum principle are analyzed, so that each candidate is related to a zero of a…
A novel multi-robot path planning approach is presented in this paper. Based on the standard Dijkstra, the algorithm looks for the optimal paths for a formation of robots, taking into account the possibility of split and merge. The…
Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…