Related papers: Fast and Near-Optimal Collision-Free Robot Schedul…
We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constraints, under which MPP problems have feasibility guarantee.…
The user-level brokers in grids consider individual application QoS requirements and minimize their cost without considering demands from other users. This results in contention for resources and sub-optimal schedules. Meta-scheduling in…
Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic arm manipulating objects on a cluttered table top.…
To satisfy the increasing performance needs of modern cyber-physical systems, multiprocessor architectures are increasingly utilized. To efficiently exploit their potential parallelism in hard real-time systems, appropriate task models and…
With the incremental development of robotic platforms to automate the manual processes, path planning has become a critical domain with or without the knowledge of the indoor and outdoor environment. The algorithms can be intelligent or…
Performance-, power-, and energy-aware scheduling techniques play an essential role in optimally utilizing processing elements (PEs) of heterogeneous systems. List schedulers, a class of low-complexity static schedulers, have commonly been…
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 paper the problem of scheduling of jobs on parallel machines under incompatibility relation is considered. In this model a binary relation between jobs is given and no two jobs that are in the relation can be scheduled on the same…
Multi-robot motion planning for high degree-of-freedom manipulators in shared, constrained, and narrow spaces is a complex problem and essential for many scenarios such as construction, surgery, and more. Traditional coupled methods plan…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
This paper considers the scheduling of parallel real-time tasks with arbitrary-deadlines. Each job of a parallel task is described as a directed acyclic graph (DAG). In contrast to prior work in this area, where decomposition-based…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
Efficient and real time segmentation of color images has a variety of importance in many fields of computer vision such as image compression, medical imaging, mapping and autonomous navigation. Being one of the most computationally…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
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…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
In many applications, including logistics and manufacturing, robot manipulators operate in semi-structured environments alongside humans or other robots. These environments are largely static, but they may contain some movable obstacles…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…