Related papers: Concurrent-Allocation Task Execution for Multi-Rob…
Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing…
Multi-Agent Path finding (MAPF) is the problem of finding paths for a set of agents such that each agent reaches its desired destination while avoiding collisions with the other agents. This problem arises in many robotics applications,…
We propose a generic multi-robot planning mechanism that combines an optimal task planner and an optimal path planner to provide a scalable solution for complex multi-robot planning problems. The Integrated planner, through the interaction…
We introduce a prioritized system-optimal algorithm for mandatory lane change (MLC) behavior of connected and automated vehicles (CAV) from a dedicated lane. Our approach applies a cooperative lane change that prioritizes the decisions of…
This paper addresses the problem of Multi-robot Coverage Path Planning (MCPP) for unknown environments in the presence of robot failures. Unexpected robot failures can seriously degrade the performance of a robot team and in extreme cases…
We enable efficient and effective coordination in unpredictable environments, i.e., in environments whose future evolution is unknown a priori and even adversarial. We are motivated by the future of autonomy that involves multiple robots…
This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled…
This paper introduces the correlated arc orienteering problem (CAOP), where the task is to find routes for a team of robots to maximize the collection of rewards associated with features in the environment. These features can be…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
We present an algorithm for finding optimal paths for multiple stochastic agents in a graph to reach their destinations with a user-specified maximum pairwise collision probability. Our algorithm, called STT-CBS, uses Conflict-Based Search…
Coordinating teams of aerial robots in cluttered three-dimensional (3D) environments requires a principled integration of discrete mission planning-deciding which robot serves which goals and in what order -- with continuous-time trajectory…
Multi-robot collaborative transportation is a critical capability that has attracted significant attention over recent years. To reliably transport a kinematically constrained payload, a team of robots must closely collaborate and…
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).…
Tethered robots play a pivotal role in specialized environments such as disaster response and underground exploration, where their stable power supply and reliable communication offer unparalleled advantages. However, their motion planning…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
Task and Motion Planning (TAMP) algorithms solve long-horizon robotics tasks by integrating task planning with motion planning; the task planner proposes a sequence of actions towards a goal state and the motion planner verifies whether…
Teams of mobile [aerial, ground, or aquatic] robots have applications in resource delivery, patrolling, information-gathering, agriculture, forest fire fighting, chemical plume source localization and mapping, and search-and-rescue. Robot…
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,…
The evolution of wireless networks and radio access technologies (RATs) has transformed communication from user-driven traffic into a dynamic ecosystem of autonomous systems, including IoT devices, edge nodes, autonomous vehicles, AR/XR…
This work considers multiple agents traversing a network from a source node to the goal node. The cost to an agent for traveling a link has a private as well as a congestion component. The agent's objective is to find a path to the goal…