Related papers: MeshA*: Efficient Path Planning With Motion Primit…
Square grids are commonly used in robotics and game development as spatial models and well known in AI community heuristic search algorithms (such as A*, JPS, Theta* etc.) are widely used for path planning on grids. A lot of research is…
When studying unconstrained behaviour and allowing mice to leave their cage to navigate a complex labyrinth, the mice exhibit foraging behaviour in the labyrinth searching for rewards, returning to their home cage now and then, e.g. to…
This paper proposes two novel path planning algorithms, Roadmap Hybrid A* and Waypoints Hybrid A*, for car-like autonomous vehicles in logistics and industrial contexts with obstacles (e.g., pallets or containers) and narrow corridors.…
This paper presents a unified optimization-based path planning approach to efficiently compute locally optimal solutions to advanced path planning problems. The approach is motivated by first showing that a lattice-based path planner can be…
This paper proposes a novel sampling-based motion planner, which integrates in RRT* (Rapidly exploring Random Tree star) a database of pre-computed motion primitives to alleviate its computational load and allow for motion planning in a…
Mobile robots in dynamic environments require fast planning, especially when onboard computational resources are limited. While classic potential field based algorithms may suffice in simple scenarios, in most cases algorithms able to…
With the advent of machine learning, there have been several recent attempts to learn effective and generalizable heuristics. Local Heuristic A* (LoHA*) is one recent method that instead of learning the entire heuristic estimate, learns a…
Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for…
High-dimensional motion planning problems can often be solved significantly faster by using multilevel abstractions. While there are various ways to formally capture multilevel abstractions, we formulate them in terms of fiber bundles.…
Search-based motion planning has been used for mobile robots in many applications. However, it has not been fully developed and applied for planning full state trajectories of Micro Aerial Vehicles (MAVs) due to their complicated dynamics…
Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…
Large-scale, parallel clusters composed of commodity processors are increasingly available, enabling the use of vast processing capabilities and distributed RAM to solve hard search problems. We investigate Hash-Distributed A* (HDA*), a…
We consider wireless mesh networks and the problem of routing end-to-end traffic over multiple paths for the same origin-destination pair with minimal interference. We introduce a heuristic for path determination with two distinguishing…
This paper presents a hybrid motion planning strategy that combines a deep generative network with a conventional motion planning method. Existing planning methods such as A* and Hybrid A* are widely used in path planning tasks because of…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The proposed method evaluates the existence of lines-of-sight from a source point to all other grid cells in a single pass with no preprocessing…
Search-based methods that use motion primitives can incorporate the system's dynamics into the planning and thus generate dynamically feasible MAV trajectories that are globally optimal. However, searching high-dimensional state lattices is…
This paper presents a novel on-line path planning method that enables aerial robots to interact with surfaces. We present a solution to the problem of finding trajectories that drive a robot towards a surface and move along it. Triangular…
Current computer-aided synthesis planning (CASP) methods often treat retrosynthesis as solved once a single feasible route is identified, focusing primarily on convergence or shortest-path metrics. This view is misaligned with real-world…
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…