Related papers: Collision-free time-optimal path parameterization …
We present a general decentralized formulation for a large class of collision avoidance methods and show that all collision avoidance methods of this form are guaranteed to be collision free. This class includes several existing algorithms…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
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…
Methods for centralized planning of the collision-free trajectories for a fleet of mobile robots typically solve the discretized version of the problem and rely on numerous simplifying assumptions, e.g. moves of uniform duration, cardinal…
The goal of Multi-Agent Path Finding (MAPF) is to find a set of paths for a fleet of agents moving in a shared environment such that the agents reach their goals without colliding with each other. In practice, some of the robots executing…
In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves…
In this paper the computational challenges of time-optimal path following are addressed. The standard approach is to minimize the travel time, which inevitably leads to singularities at zero path speed, when reformulating the optimization…
In pursuit of the time-optimal path tracking (TOPT) trajectory of a robot manipulator along a preset path, a beforehand identified robot dynamic model is usually used to obtain the required optimal trajectory for perfect tracking. However,…
The multiple-path orienteering problem asks for paths for a team of robots that maximize the total reward collected while satisfying budget constraints on the path length. This problem models many multi-robot routing tasks such as exploring…
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…
We study the iterative refinement of path planning for multiple robots, known as multi-agent pathfinding (MAPF). Given a graph, agents, their initial locations, and destinations, a solution of MAPF is a set of paths without collisions.…
Multi-agent path finding (MAPF) in large networks is computationally challenging. An approach for MAPF is prioritized planning (PP), in which agents plan sequentially according to their priority. Albeit a computationally efficient approach…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…
Multi-agent Pickup and Delivery (MAPD) is a challenging industrial problem where a team of robots is tasked with transporting a set of tasks, each from an initial location and each to a specified target location. Appearing in the context of…
Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…
This paper presents a distributed, efficient, scalable and real-time motion planning algorithm for a large group of agents moving in 2 or 3-dimensional spaces. This algorithm enables autonomous agents to generate individual trajectories…
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…
This paper proposes an online path planning and motion generation algorithm for heterogeneous robot teams performing target search in a real-world environment. Path selection for each robot is optimized using an information-theoretic…
Multi-robot systems are widely used for coverage tasks that require efficient coordination across large environments. In Multi-Robot Coverage Path Planning (MCPP), the objective is typically to minimize the makespan by generating…
This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous…