Related papers: OpenMORE: an open-source tool for sampling-based p…
In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…
Advancing Multi-Agent Pathfinding (MAPF) and Multi-Robot Motion Planning (MRMP) requires platforms that enable transparent, reproducible comparisons across modeling choices. Existing tools either scale under simplifying assumptions (grids,…
Autonomous Exploration Development Environment is an open-source repository released to facilitate the development of high-level planning algorithms and integration of complete autonomous navigation systems. The repository contains…
The task of atom rearrangement has emerged in the last decade as a fundamental building block for the development of neutral atom-based quantum processors. However, despite many recent efforts to develop algorithms with favorable asymptotic…
Human-robot interaction requires a common understanding of the operational environment, which can be provided by a representation that blends geometric and symbolic knowledge: a semantic map. Through a semantic map the robot can interpret…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…
Sampling-based algorithms solve the path planning problem by generating random samples in the search-space and incrementally growing a connectivity graph or a tree. Conventionally, the sampling strategy used in these algorithms is biased…
We introduce BROUTE, a benchmark suite for vehicle routing optimization algorithms. We define a selection of algorithms traditionally used in vehicle routing optimization. They capture essential features that are also relevant in…
A common problem in elastic optical networks is to study the behavior of different resources allocation algorithms, such as signal modulation formats or quality of service, in optical networks in dynamic scenarios where connections are…
OpenMOLE is a scientific workflow engine with a strong emphasis on workload distribution. Workflows are designed using a high level Domain Specific Language (DSL) built on top of Scala. It exposes natural parallelism constructs to easily…
Testing and evaluation of robotics systems is a difficult and oftentimes tedious task due to the systems' complexity and a lack of tools to conduct reproducible robotics experiments. Additionally, almost all available tools are either…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
We consider path planning for a rigid spatial robot moving amidst polyhedral obstacles. Our robot is either a rod or a ring. Being axially-symmetric, their configuration space is R^3 x S^2 with 5 degrees of freedom (DOF). Correct, complete…
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…
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 motion planners (SBMPs) are widely used to compute dynamically feasible robot paths. However, their reliance on uniform sampling often leads to poor efficiency and slow planning in complex environments. We introduce a novel…
In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…
The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…