Related papers: pc-dbCBS: Kinodynamic Motion Planning of Physicall…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance…
This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions…
This paper presents an algorithmic framework for the distributed on-line source seeking, termed as 'DoSS', with a multi-robot system in an unknown dynamical environment. Our algorithm, building on a novel concept called dummy confidence…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
Soft robots were introduced in large part to enable safe, adaptive interaction with the environment, and this interaction relies fundamentally on contact. However, modeling and planning contact-rich interactions for soft robots remain…
Task and Motion Planning (TAMP) integrates high-level task planning with low-level motion feasibility, but existing methods are costly in long-horizon problems due to excessive motion sampling. While LLMs provide commonsense priors, they…
Constrained Motion Planning (CMP) aims to find a collision-free path between the given start and goal configurations on the kinematic constraint manifolds. These problems appear in various scenarios ranging from object manipulation to…
This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mobile robot has partial environment information only, and aims to move from an initial position to a target position without…
Multi-robot systems can be extremely efficient for accomplishing team-wise tasks by acting concurrently and collaboratively. However, most existing methods either assume static task features or simply replan when environmental changes…
In this paper, we present a method of multi-robot motion planning by biasing centralized, sampling-based tree search with decentralized, data-driven steer and distance heuristics. Over a range of robot and obstacle densities, we evaluate…
This paper aims to increase the safety and reliability of executing trajectories planned for robots with non-trivial dynamics given a light-weight, approximate dynamics model. Scenarios include mobile robots navigating through workspaces…
Autonomous agents are limited in their ability to observe the world state. Partially observable Markov decision processes (POMDPs) formally model the problem of planning under world state uncertainty, but POMDPs with continuous actions and…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Multi-Agent Motion Planning (MAMP) is a problem that seeks collision-free dynamically-feasible trajectories for multiple moving agents in a known environment while minimizing their travel time. MAMP is closely related to the well-studied…
We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…
The problem of kinodynamic multi-goal motion planning is to find a trajectory over multiple target locations with an apriori unknown sequence of visits. The objective is to minimize the cost of the trajectory planned in a cluttered…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
Multi-robot systems enhance efficiency and productivity across various applications, from manufacturing to surveillance. While single-robot motion planning has improved by using databases of prior solutions, extending this approach to…
Bounded-rate multi-mode systems are hybrid systems that can switch among a finite set of modes. Its dynamics is specified by a finite number of real-valued variables with mode-dependent rates that can vary within given bounded sets. Given…