Related papers: A Multi-Heuristic Search-based Motion Planning for…
Current evaluation functions for heuristic planning are expensive to compute. In numerous planning problems these functions provide good guidance to the solution, so they are worth the expense. However, when evaluation functions are…
Recently, many enterprises are facing the difficulties brought out by the limitation of warehouse land and the increase of loan cost. As a promising approach to improve space utilization rate, puzzle-based storage systems (PBSSs) are…
We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps. The competing resources of…
We consider a family of Rich Vehicle Routing Problems (RVRP) which have the particularity to combine a heterogeneous fleet with other attributes, such as backhauls, multiple depots, split deliveries, site dependency, open routes, duration…
We propose a game theoretic approach to address the problem of searching for available parking spots in a parking lot and picking the ``optimal'' one to park. The approach exploits limited information provided by the parking lot, i.e., its…
Path planning is one of the most vital elements of mobile robotics, providing the agent with a collision-free route through the workspace. The global path plan can be calculated with a variety of informed search algorithms, most notably the…
Efficient driving in urban traffic scenarios requires foresight. The observation of other traffic participants and the inference of their possible next actions depending on the own action is considered cooperative prediction and planning.…
We perform a systematic exploration of the principle of Space Utilization Optimization (SUO) as a heuristic for planning better individual paths in a decoupled multi-robot path planner, with applications to both one-shot and life-long…
Optimal path planning is the problem of finding a valid sequence of states between a start and goal that optimizes an objective. Informed path planning algorithms order their search with problem-specific knowledge expressed as heuristics…
Heuristics are a central component of deterministic planning, particularly in domain-independent settings where general applicability is prioritized over task-specific tuning. This work revisits that paradigm in light of recent advances in…
This paper addresses the path planning problems for recommending parking spaces, given the difficulties of identifying the most optimal route to vacant parking spaces and the shortest time to leave the parking space. Our optimization…
Multi-Agent Path Finding (MAPF) algorithms, including those for car-like robots and grid-based scenarios, face significant computational challenges due to expensive heuristic calculations. Traditional heuristic caching assumes that the…
Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for…
Four-wheel independent steering (4WIS) systems provide mobile robots with a rich set of motion modes, such as Ackermann steering, lateral steering, and parallel movement, offering superior maneuverability in constrained environments.…
Tree search is a fundamental tool for planning, as many sequential decision-making problems can be framed as searching over tree-structured spaces. We propose an uncertainty-guided tree search algorithm for settings where the reward…
In a Role-Playing Game, finding optimal trajectories is one of the most important tasks. In fact, the strategy decision system becomes a key component of a game engine. Determining the way in which decisions are taken (online, batch or…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
Discovering an optimal route to the most feasible parking lot has been a matter of concern for any driver which aggravates further during peak hours of the day and at congested places leading to considerable wastage of time and fuel. This…
Automating the design of heuristic search methods is an active research field within computer science, artificial intelligence and operational research. In order to make these methods more generally applicable, it is important to eliminate…
The continuous computational power growth in the last decades has made solving several optimization problems significant to humankind a tractable task; however, tackling some of them remains a challenge due to the overwhelming amount of…