Related papers: MRTA-Sim: A Modular Simulator for Multi-Robot Allo…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
To improve the cognitive autonomy of humanoid robots, this research proposes a multi-scenario reasoning architecture to solve the technical shortcomings of multi-modal understanding in this field. It draws on simulation based experimental…
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…
We introduce an open-source system called SIGMA (short for "Situated Interactive Guidance, Monitoring, and Assistance") as a platform for conducting research on task-assistive agents in mixed-reality scenarios. The system leverages the…
As more robots are being deployed into human environments, a human-aware navigation planner needs to handle multiple contexts that occur in indoor and outdoor environments. In this paper, we propose a tunable human-aware robot navigation…
We present MINOS, a simulator designed to support the development of multisensory models for goal-directed navigation in complex indoor environments. The simulator leverages large datasets of complex 3D environments and supports flexible…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…
This paper addresses a new semantic multi-robot planning problem in uncertain and dynamic environments. Particularly, the environment is occupied with non-cooperative, mobile, uncertain labeled targets. These targets are governed by…
Shared e-mobility services have been widely tested and piloted in cities across the globe, and already woven into the fabric of modern urban planning. This paper studies a practical yet important problem in those systems: how to deploy and…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Multi-robot task allocation is one of the most fundamental classes of problems in robotics and is crucial for various real-world robotic applications such as search, rescue and area exploration. We consider the Single-Task robots and…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
Symbolic motion planning for robots is the process of specifying and planning robot tasks in a discrete space, then carrying them out in a continuous space in a manner that preserves the discrete-level task specifications. Despite progress…
The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…
Efficiently solving path planning problems for a large number of robots is critical to the successful operation of modern warehouses. The existing approaches adopt classical shortest path algorithms to plan in environments whose cells are…
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…
Micromobility, which utilizes lightweight mobile machines moving in urban public spaces, such as delivery robots and mobility scooters, emerges as a promising alternative to vehicular mobility. Current micromobility depends mostly on human…