Related papers: Asymptotically-Optimal Multi-Query Path Planning f…
We develop new algorithmic techniques for VLSI detailed routing. First, we improve the goal-oriented version of Dijkstra's algorithm to find shortest paths in huge incomplete grid graphs with edge costs depending on the direction and the…
Geodesic paths and distances are among the most popular intrinsic properties of 3D surfaces. Traditionally, geodesic paths on discrete polygon surfaces were computed using shortest path algorithms, such as Dijkstra. However, such algorithms…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
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…
Real-time dynamic path planning in complex traffic environments presents challenges, such as varying traffic volumes and signal wait times. Traditional static routing algorithms like Dijkstra and A* compute shortest paths but often fail…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
this paper presents an enhancement of the medial axis algorithm to be used for finding the optimal shortest path for developed cognitive map. The cognitive map has been developed, based on the architectural blueprint maps. The idea for…
This article considers two variants of a shortest path problem for a car-like robot visiting a set of waypoints. The sequence of waypoints to be visited is specified in the first variant while the robot is allowed to visit the waypoints in…
Finding shortest paths in a graph is relevant for numerous problems in computer vision and graphics, including image segmentation, shape matching, or the computation of geodesic distances on discrete surfaces. Traditionally, the concept of…
Efficient routing of mobile robot fleets is crucial in intralogistics, where delays and deadlocks can substantially reduce system throughput. Roadmap design, specifying feasible transport routes, directly affects fleet coordination and…
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…
We present a theoretical analysis of a recent whole body motion planning method, the Randomized Possibility Graph, which uses a high-level decomposition of the feasibility constraint manifold in order to rapidly find routes that may lead to…
We consider the Multi-Robot Task Allocation (MRTA) problem that aims to optimize an assignment of multiple robots to multiple tasks in challenging environments which are with densely populated obstacles and narrow passages. In such…
Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
In this paper, we present a hierarchical path planning framework called SG-RL (subgoal graphs-reinforcement learning), to plan rational paths for agents maneuvering in continuous and uncertain environments. By "rational", we mean (1)…
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
A shortest-path algorithm finds a path containing the minimal cost between two vertices in a graph. A plethora of shortest-path algorithms is studied in the literature that span across multiple disciplines. This paper presents a survey of…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…