Related papers: Mixed Integer Programming for Time-Optimal Multi-R…
Multi-Agent Path Finding (MAPF) is a long-standing problem in Robotics and Artificial Intelligence in which one needs to find a set of collision-free paths for a group of mobile agents (robots) operating in the shared workspace. Due to its…
We introduce the Multi-Robot Connected Fermat Spiral (MCFS), a novel algorithmic framework for Multi-Robot Coverage Path Planning (MCPP) that adapts Connected Fermat Spiral (CFS) from the computer graphics community to multi-robot…
In this paper, we develop a fast mixed-integer convex programming (MICP) framework for multi-robot navigation by combining graph attention networks and distributed optimization. We formulate a mixed-integer optimization problem for receding…
This paper tackles the problem of planning minimum-energy coverage paths for multiple UAVs. The addressed Multi-UAV Coverage Path Planning (mCPP) is a crucial problem for many UAV applications such as inspection and aerial survey. However,…
This article presents a novel approach, named MCMP (Monte Carlo Motion Planning), to the problem of motion planning under uncertainty, i.e., to the problem of computing a low-cost path that fulfills probabilistic collision avoidance…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
Reducing the fuel load in fire-prone landscapes is aimed at mitigating the risk of catastrophic wildfires but there are ecological consequences. Maintaining habitat for fauna of both sufficient extent and connectivity while fragmenting…
This paper addresses a mixed integer programming (MIP) formulation for the multi-item uncapacitated lot-sizing problem that is inspired from the trailer manufacturer. The proposed MIP model has been utilized to find out the optimum order…
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…
Inspection planning is concerned with computing the shortest robot path to inspect a given set of points of interest (POIs) using the robot's sensors. This problem arises in a wide range of applications from manufacturing to medical…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. In the proposed centralized multi-robot planner, a simultaneous matching and routing problem (SMRP) is…
This paper develops a computationally efficient algorithm for the Multiple Vehicle Pickup and Delivery Problem (MVPDP) with the objective of minimizing the tour cost incurred while completing the task of pickup and delivery of customers. To…
The state-of-the-art in optimal control from timed temporal logic specifications, including Metric Temporal Logic (MTL) and Signal Temporal Logic (STL), is based on Mixed-Integer Convex Programming (MICP). The standard MICP approach is…
Packing and vehicle routing problems play an important role in the area of supply chain management. In this paper, we introduce a non-linear knapsack problem that occurs when packing items along a fixed route and taking into account travel…
In this paper, we propose a method to replan coverage paths for a robot operating in an environment with initially unknown static obstacles. Existing coverage approaches reduce coverage time by covering along the minimum number of coverage…
Mobile robots hold great promise in reducing the need for humans to perform jobs such as vacuuming, seeding,harvesting, painting, search and rescue, and inspection. In practice, these tasks must often be done without an exact map of the…
Coordinating teams of aerial robots in cluttered three-dimensional (3D) environments requires a principled integration of discrete mission planning-deciding which robot serves which goals and in what order -- with continuous-time trajectory…
In this paper, we tackle the Multiple Watchman Route Problem (MWRP), which aims to find a set of paths that M watchmen can follow such that every location on the map can be seen by at least one watchman. First, we propose multiple methods…
Navigating rigid body objects through crowded environments can be challenging, especially when narrow passages are presented. Existing sampling-based planners and optimization-based methods like mixed integer linear programming (MILP)…
Autonomous vehicle (AV) motion planning problems often involve non-convex constraints, which present a major barrier to applying model predictive control (MPC) in real time on embedded hardware. This paper presents an approach for…