Related papers: Equitable Persistent Coverage of Non-Convex Enviro…
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…
The problem of finding an optimal vertex cover in a graph is a classic NP-complete problem, and is a special case of the hitting set question. On the other hand, the hitting set problem, when asked in the context of induced geometric…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
We present a novel local improvement scheme for the perfectly balanced graph partitioning problem. This scheme encodes local searches that are not restricted to a balance constraint into a model allowing us to find combinations of these…
We consider a natural generalization of the Partial Vertex Cover problem. Here an instance consists of a graph G = (V,E), a positive cost function c: V-> Z^{+}, a partition $P_1,..., P_r$ of the edge set $E$, and a parameter $k_i$ for each…
Fueled by algorithmic advances, AI algorithms are increasingly being deployed in settings subject to unanticipated challenges with complex social effects. Motivated by real-world deployment of AI driven, social-network based suicide…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
An exact algorithm is presented for solving edge weighted graph partitioning problems. The algorithm is based on a branch and bound method applied to a continuous quadratic programming formulation of the problem. Lower bounds are obtained…
Goal-conditioned robotic grasping in cluttered environments remains a challenging problem due to occlusions caused by surrounding objects, which prevent direct access to the target object. A promising solution to mitigate this issue is…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…
We study the problem of planning the deployments of a group of mobile robots. While the problem and formulation can be used for many different problems, here we use a bridge inspection as the motivating application for the purpose of…
Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding…
We propose a convex-concave programming approach for the labeled weighted graph matching problem. The convex-concave programming formulation is obtained by rewriting the weighted graph matching problem as a least-square problem on the set…
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…
Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and global consistency, most require more computational…
Motion planning problems have been studied by both the robotics and the controls research communities for a long time, and many algorithms have been developed for their solution. Among them, incremental sampling-based motion planning…
This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem…
$\delta$-Covering, for some covering range $\delta>0$, is a continuous facility location problem on undirected graphs where all edges have unit length. The facilities may be positioned on the vertices as well as on the interior of the…
Optimization based motion planning provides a useful modeling framework through various costs and constraints. Using Graph of Convex Sets (GCS) for trajectory optimization gives guarantees of feasibility and optimality by representing…