Related papers: Path Planning for a Cooperative Navigation Aid Veh…
Collaborative navigation becomes essential in situations of occluded scenarios in autonomous driving where independent driving policies are likely to lead to collisions. One promising approach to address this issue is through the use of…
Multi-agent path planning (MAPP) is the problem of planning collision-free trajectories from start to goal locations for a team of agents. This work explores a relatively unexplored setting of MAPP where streams of agents have to go through…
Navigation in cluttered underwater environments is challenging, especially when there are constraints on communication and self-localisation. Part of the fully distributed underwater navigation problem has been resolved by introducing…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
A cooperative salvo strategy is proposed in this paper which achieves consensus among the interceptors within a pre-defined arbitrary settling time. Considering non-linear engagement kinematics and a system lag to capture the effect of…
In multi-agent navigation, agents need to move towards their goal locations while avoiding collisions with other agents and static obstacles, often without communication with each other. Existing methods compute motions that are optimal…
Multi-Agent Path Finding (MAPF) involves determining paths for multiple agents to travel simultaneously and collision-free through a shared area toward given goal locations. This problem is computationally complex, especially when dealing…
The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten…
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…
Unmanned Aerial Vehicle (UAV) technology is a promising solution for providing high-quality mobile services to ground users, where a UAV with limited service coverage travels among multiple geographical user locations (e.g., hotspots) for…
Cooperative pathfinding is a multi-agent path planning problem where a group of vehicles searches for a corresponding set of non-conflicting space-time trajectories. Many of the practical methods for centralized solving of cooperative…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
Multi-Agent Path Finding (MAPF) seeks collision-free paths for multiple agents from their respective starting locations to their respective goal locations while minimizing path costs. Although many MAPF algorithms were developed and can…
In Multiagent Path Finding (MAPF), the goal is to compute efficient, collision-free paths for multiple agents navigating a network from their sources to targets, minimizing the schedule's makespan-the total time until all agents reach their…
The route planning problem based on the greedy algorithm represents a method of identifying the optimal or near-optimal route between a given start point and end point. In this paper, the PCA method is employed initially to downscale the…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…
Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…
Navigating teams of unmanned vehicles through environments containing dynamic, adversarial Weapon Engagement Zones~(WEZs) poses a fundamental challenge to mission success: a single vehicle, however capable its onboard guidance, remains a…