Related papers: Large-Scale Multirobot Coverage Path Planning on G…
Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…
Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Probabilistic Terminals (HPP-PT), where each vertex has a…
In this paper we tackle the problem of persistently covering a complex non-convex environment with a team of robots. We consider scenarios where the coverage quality of the environment deteriorates with time, requiring to constantly revisit…
Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…
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…
In this article, we consider a multi-agent path planning problem in a stochastic environment. The environment, which can be an urban road network, is represented by a graph where the travel time for selected road segments (impeded edges) is…
Multi-Agent Path Finding (MAPF) is a fundamental problem in artificial intelligence and robotics, requiring the computation of collision-free paths for multiple agents navigating from their start locations to designated goals. As autonomous…
This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…
Multi-Agent Path Finding (MAPF) requires collision-free trajectories for multiple agents on a shared graph, often with the objective of minimizing the sum-of-costs (SOC). Many optimal and bounded-suboptimal solvers rely on time-expanded…
Multiple mobile manipulators show superiority in the tasks requiring mobility and dexterity compared with a single robot, especially when manipulating/transporting bulky objects. However, closed-chain of the system, redundancy of each…
Multi-agent path finding in continuous space and time with geometric agents MAPF$^\mathcal{R}$ is addressed in this paper. The task is to navigate agents that move smoothly between predefined positions to their individual goals so that they…
Path planning for mobile robots in large dynamic environments is a challenging problem, as the robots are required to efficiently reach their given goals while simultaneously avoiding potential conflicts with other robots or dynamic…
An efficient algorithm to solve the $k$ shortest non-homotopic path planning ($k$-SNPP) problem in a 2D environment is proposed in this paper. Motivated by accelerating the inefficient exploration of the homotopy-augmented space of the 2D…
In this paper, we investigate three fundamental problems in the Massively Parallel Computation (MPC) model: (i) grid graph connectivity, (ii) approximate Euclidean Minimum Spanning Tree (EMST), and (iii) approximate DBSCAN. Our first result…
We present a novel learning-based trajectory generation algorithm for outdoor robot navigation. Our goal is to compute collision-free paths that also satisfy the environment-specific traversability constraints. Our approach is designed for…
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…
Incremental graph search algorithms such as D* Lite reuse previous, and perhaps partial, searches to expedite subsequent path planning tasks. In this article, we are interested in developing incremental graph search algorithms for path…
We propose a Stochastic MPC (SMPC) formulation for path planning with autonomous vehicles in scenarios involving multiple agents with multi-modal predictions. The multi-modal predictions capture the uncertainty of urban driving in distinct…
This paper addresses the problem of reliably and efficiently solving broad classes of long-horizon stochastic path planning problems. Starting with a vanilla RL formulation with a stochastic dynamics simulator and an occupancy matrix of the…
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).…