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In this paper, we study the problem of optimal multi-robot path planning (MPP) on graphs. We propose two multiflow based integer linear programming (ILP) models that computes minimum last arrival time and minimum total distance solutions…
Robot path planning plays a pivotal role in enabling autonomous systems to navigate safely and efficiently in complex and uncertain environments. Despite extensive research on classical graph-based methods and sampling-based planners,…
Multi-Agent Path Finding (MAPF) has gained significant attention, with most research focusing on minimizing collisions and travel time. This paper also considers energy consumption in the path planning of automated guided vehicles (AGVs).…
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…
This document is a thesis on the subject of single-agent on-line path planning in continuous,unpredictable and highly dynamic environments. The problem is finding and traversing a collision-free path for a holonomic robot, without…
Path planning for high-speed unmanned surface vehicles requires more complex solutions to reduce sailing time and save energy. This article proposes a new predictive artificial potential field that incorporates time information and…
Traditional navigation services find the fastest route for a single driver. Though always using the fastest route seems desirable for every individual, selfish behavior can have undesirable effects such as higher energy consumption and…
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…
Flow matching trains a neural velocity field by regression against a target velocity associated with a prescribed probability path connecting a simple initial distribution to the data distribution. A central design choice is the path…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…
Formulating the intended behavior of a dynamic system can be challenging. Signal temporal logic (STL) is frequently used for this purpose due to its suitability in formalizing comprehensible, modular, and versatile spatiotemporal…
A key problem of robotic environmental sensing and monitoring is that of active sensing: How can a team of robots plan the most informative observation paths to minimize the uncertainty in modeling and predicting an environmental…
For rapid growth in technology and automation, human tasks are being taken over by robots as robots have proven to be better with both speed and precision. One of the major and widespread usages of these robots is in the industrial…
The main objective of this paper is to provide a tool for performing path planning at the servo level of a mobile robot. The ability to perform, in a provably correct manner, such a complex task at the servo level can lead to a large…
Achieving long term autonomy of robots operating in dynamic environments such as farms remains a significant challenge. Arguably, the most demanding factors to achieve this are the on-board resource constraints such as energy, planning in…
As mobile robots find increasing use in outdoor applications, designing energy-efficient robot navigation algorithms is gaining importance. There are two primary approaches to energy efficient navigation: Offline approaches rely on a…