Related papers: Reshaping Viscoelastic-String Path-Planner (RVP)
Graph routing problems play a vital role in web-related networks, where finding optimal paths across graphs is essential for efficient data transmission and content delivery. Classic routing formulations such as the Traveling Salesman…
The labeled MRPP (Multi-Robot Path Planning) problem involves routing robots from start to goal configurations efficiently while avoiding collisions. Despite progress in solution quality and runtime, its complexity and industrial relevance…
Resampling techniques are widely used in statistical inference and ensemble learning, in which estimators' statistical properties are essential. However, existing methods are computationally demanding, because repetitions of…
In this paper, we consolidate and expand upon the current theory and potential applications of the set of $k$ best \emph{cascading via-paths} (CVPs) and the \emph{reciprocal pointer chain} (RPC) method for identifying them. CVPs are a…
Sampling-based algorithms are viewed as practical solutions for high-dimensional motion planning. Recent progress has taken advantage of random geometric graph theory to show how asymptotic optimality can also be achieved with these…
Learning-based path planning is becoming a promising robot navigation methodology due to its adaptability to various environments. However, the expensive computing and storage associated with networks impose significant challenges for their…
Sampling-based algorithms for robot path planning offer probabilistic completeness and strong empirical convergence properties across environments with diverse obstacle configurations. However, in practice, these methods often require many…
In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…
This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mobile robot has partial environment information only, and aims to move from an initial position to a target position without…
The Entrance Dependent Vehicle Routing Problem (EDVRP) is a variant of the Vehicle Routing Problem (VRP) where the scale of cities influences routing outcomes, necessitating consideration of their entrances. This paper addresses EDVRP in…
This paper proposes a local path planning method with a reachable set for Automated vertical Parking Systems (APS). First, given a parking lot layout with a goal position, we define an intermediate pose for the APS to accomplish reverse…
Vision-language navigation is the task of directing an embodied agent to navigate in 3D scenes with natural language instructions. For the agent, inferring the long-term navigation target from visual-linguistic clues is crucial for reliable…
This paper presents the Language Aided Subset Sampling Based Motion Planner (LASMP), a system that helps mobile robots plan their movements by using natural language instructions. LASMP uses a modified version of the Rapidly Exploring…
By learning Variable Impedance Control policy, robot assistants can intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this…
The Vehicle Routing Problem (VRP) is an example of a combinatorial optimization problem that has attracted academic attention due to its potential use in various contexts. VRP aims to arrange vehicle deliveries to several sites in the most…
Though visual and repeat navigation is a convenient solution for mobile robot self-navigation, achieving balance between efficiency and robustness in task environment still remains challenges. In this paper, we propose a novel visual and…
As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement guidance whilst coping with changes in the environment is…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…
In this paper, we introduce a method to deal with the problem of robot local path planning among pushable objects -- an open problem in robotics. In particular, we achieve that by training multiple agents simultaneously in a physics-based…
This work addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, which is a fundamental problem in robotics. While many path planning algorithms have been proposed for decades, many of them have dealt…