Related papers: Multi-Robot Planning on Dynamic Topological Graphs…
This paper leverages the framework of algorithms-with-predictions to design data structures for two fundamental dynamic graph problems: incremental topological ordering and cycle detection. In these problems, the input is a directed graph…
To realize effective heterogeneous multi-robot teams, researchers must leverage individual robots' relative strengths and coordinate their individual behaviors. Specifically, heterogeneous multi-robot systems must answer three important…
This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where…
Active SLAM is the task of actively planning robot paths while simultaneously building a map and localizing within. Existing work has focused on planning paths with occupancy grid maps, which do not scale well and suffer from long term…
Mixed-integer convex programming (MICP) has seen significant algorithmic and hardware improvements with several orders of magnitude solve time speedups compared to 25 years ago. Despite these advances, MICP has been rarely applied to…
Distributed optimization consists of multiple computation nodes working together to minimize a common objective function through local computation iterations and network-constrained communication steps. In the context of robotics,…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…
We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…
We present a centralized algorithm for labeled, disk-shaped Multi-Robot Path Planning (MPP) in a continuous planar workspace with polygonal boundaries. Our method automatically transform the continuous problem into a discrete, graph-based…
In fast-paced, ever-changing environments, dynamic Motion Planning for Multi-Agent Systems in the presence of obstacles is a universal and unsolved problem. Be it from path planning around obstacles to the movement of robotic arms, or in…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
This paper addresses planning and control of robot motion under uncertainty that is formulated as a continuous-time, continuous-space stochastic optimal control problem, by developing a topology-guided path integral control method. The path…
Robotic pick and place stands at the heart of autonomous manipulation. When conducted in cluttered or complex environments robots must jointly reason about the selected grasp and desired placement locations to ensure success. While several…
This paper shows how Graph Neural Networks can be used for learning distributed coordination mechanisms in connected teams of robots. We capture the relational aspect of robot coordination by modeling the robot team as a graph, where each…
We introduce a new graph neural operator-based approach for task allocation in a system of heterogeneous robots composed of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or…
High-level autonomy requires discrete and continuous reasoning to decide both what actions to take and how to execute them. Integrated Task and Motion Planning (TMP) algorithms solve these hybrid problems jointly to consider constraints…
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…
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…