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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…
With the rapid progress in Multi-Agent Path Finding (MAPF), researchers have studied how MAPF algorithms can be deployed to coordinate hundreds of robots in large automated warehouses. While most works try to improve the throughput of such…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
We present an algorithm for planning trajectories that avoid obstacles and satisfy key-door precedence specifications expressed with a fragment of signal temporal logic. Our method includes a novel exact convex partitioning of the obstacle…
This paper presents a collection of path planning algorithms for real-time movement of multiple robots across a Robotic Mobile Fulfillment System (RMFS). Robots are assigned to move storage units to pickers at working stations instead of…
In this paper, we present Stratified Topological Autonomy for Long-Range Coordination (STALC), a hierarchical planning approach for multi-robot coordination in real-world environments with significant inter-robot spatial and temporal…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
Parking in large metropolitan areas is often a time-consuming task with further implications toward traffic patterns that affect urban landscaping. Reducing the premium space needed for parking has led to the development of automated…
Navigation is one of the most widely used applications of the Location Based Services (LBS) which have become part of our digitally informed daily lives. Navigation services, however, have generally been designed for drivers rather than…
We address the Multi-Robot Motion Planning (MRMP) problem of computing collision-free trajectories for multiple robots in shared continuous environments. While existing frameworks effectively decompose MRMP into single-robot subproblems,…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
Electric, intelligent, and network are the most important future development directions of automobiles. Intelligent electric vehicles have shown great potentials to improve traffic mobility and reduce emissions, especially at unsignalized…
Robots are becoming an increasingly common part of scientific work within laboratory environments. In this paper, we investigate the problem of designing \emph{schedules} for completing a set of tasks at fixed locations with multiple robots…