Related papers: Accelerated Reeds-Shepp and Under-Specified Reeds-…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
Multi-robot path planning is difficult due to the combinatorial explosion of the search space with every new robot added. Complete search of the combined state-space soon becomes intractable. In this paper we present a novel form of…
We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the number of these safe boxes is large, and basic preprocessing of…
Recent research in robot exploration and mapping has focused on sampling environmental hotspot fields. This exploration task is formalized by Low, Dolan, and Khosla (2008) in a sequential decision-theoretic planning under uncertainty…
Integrating artificial intelligence (AI) into sampling-based motion planning provides new possibilities for improving autonomous navigation efficiency. In this paper, three algorithms, namely RRT*, Neural RRT*, and Neural Informed RRT*, are…
Existing Global Path Planning (GPP) algorithms predominantly presume planning in static environments. This assumption immensely limits their applications to Unmanned Surface Vehicles (USVs) that typically navigate in dynamic environments.…
We propose a distributed planning method with asynchronous execution for multi-agent pickup and delivery (MAPD) problems for environments with occasional delays in agents' activities and flexible endpoints. MAPD is a crucial problem…
Sampling-based Motion Planners (SMPs) have become increasingly popular as they provide collision-free path solutions regardless of obstacle geometry in a given environment. However, their computational complexity increases significantly…
We present an algorithm for planning trajectories that avoid obstacles and satisfy key-door precedence specifications expressed with a fragment of signal temporal logic. Our method includes a novel exact convex partitioning of the obstacle…
In this paper, we propose a new method for path planning to a point for robot in environment with obstacles. The resulting algorithm is implemented as a simple variation of Dijkstra's algorithm. By adding a constraint to the shortest-path,…
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…
This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…
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…
Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…
Many multi-robot applications require tasks to be completed efficiently and in the correct order, so that downstream operations can proceed at the right time. Multi-agent path finding with precedence constraints (MAPF-PC) is a well-studied…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
The optimal traverse of irregular terrains made by ground mobile robots heavily depends on the adequacy of the cost models used to plan the path they follow. The criteria to define optimality may be based on minimizing energy consumption…
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…
Sidewalk delivery robots are a promising solution for last-mile freight distribution. Yet, they operate in dynamic environments characterized by pedestrian flows and potential obstacles, which make travel times highly uncertain and can…
The state-of-the-art methods for solving optimization problems in big dimensions are variants of randomized coordinate descent (RCD). In this paper we introduce a fundamentally new type of acceleration strategy for RCD based on the…