Related papers: Sampling-Based Multi-Modal Multi-Robot Multi-Goal …
Nowadays, a number of grasping algorithms have been proposed, that can predict a candidate of grasp poses, even for unseen objects. This enables a robotic manipulator to pick-and-place such objects. However, some of the predicted grasp…
At modern warehouses, mobile robots transport packages and drop them into collection bins/chutes based on shipping destinations grouped by, e.g., the ZIP code. System throughput, measured as the number of packages sorted per unit of time,…
Despite the performance advantages of modern sampling-based motion planners, solving high dimensional planning problems in near real-time remains a challenge. Applications include hyper-redundant manipulators, snake-like and humanoid…
We present an online centralized path planning algorithm to cover a large, complex, unknown workspace with multiple homogeneous mobile robots. Our algorithm is horizon-based, synchronous, and on-demand. The recently proposed horizon-based…
In this paper, we consider the problem of Multi-Robot Path Planning (MRPP) in continuous space. The difficulty of the problem arises from the extremely large search space caused by the combinatorial nature of the problem and the continuous…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
We propose novel techniques for task allocation and planning in multi-robot systems operating in uncertain environments. Task allocation is performed simultaneously with planning, which provides more detailed information about individual…
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…
In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specification such as…
Robot swarms navigating through unknown obstacle environments are an emerging research area that faces challenges. Performing tasks in such environments requires swarms to achieve autonomous localization, perception, decision-making,…
It is crucial to efficiently execute instructions such as "Find an apple and a banana" or "Get ready for a field trip," which require searching for multiple objects or understanding context-dependent commands. This study addresses the…
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…
We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…
Path planning has long been one of the major research areas in robotics, with PRM and RRT being two of the most effective classes of planners. Though generally very efficient, these sampling-based planners can become computationally…
The optimal robot assembly planning problem is challenging due to the necessity of finding the optimal solution amongst an exponentially vast number of possible plans, all while satisfying a selection of constraints. Traditionally, robotic…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…
To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…
We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
Efficient path planning for autonomous mobile robots is a critical problem across numerous domains, where optimizing both time and energy consumption is paramount. This paper introduces a novel methodology that considers the dynamic…