Related papers: Universal Solvability for Robot Motion Planning on…
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…
Terrestrial robots, i.e., unmanned ground vehicles (UGVs), and aerial robots, i.e., unmanned aerial vehicles (UAVs), operate in separate spaces. To exploit their complementary features (e.g., fields of views, communication links, computing…
While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find…
We study the parameterized complexity of a variant of the classic video game Snake that models real-world problems of motion planning. Given a snake-like robot with an initial position and a final position in an environment (modeled by a…
Robust motion planning entails computing a global motion plan that is safe under all possible uncertainty realizations, be it in the system dynamics, the robot's initial position, or with respect to external disturbances. Current approaches…
Given a directed graph and a source vertex, the fully dynamic single-source reachability problem is to maintain the set of vertices that are reachable from the given vertex, subject to edge deletions and insertions. It is one of the most…
Graph exploration is one of the fundamental tasks performed by a mobile agent in a graph. An $n$-node graph has unlabeled nodes, and all ports at any node of degree $d$ are arbitrarily numbered $0,\dots, d-1$. A mobile agent, initially…
Kinodynamic motion planning for non-holomonic mobile robots is a challenging problem that is lacking a universal solution. One of the computationally efficient ways to solve it is to build a geometric path first and then transform this path…
We study the problem of optimal multi-robot path planning on graphs MPP over four distinct minimization objectives: the makespan (last arrival time), the maximum (single-robot traveled) distance, the total arrival time, and the total…
Optimal path planning problems for rigid and deformable (bendable) cuboid robots are considered by providing an analytic safety constraint using generalized $L_p$ norms. For regular cuboid robots, level sets of weighted $L_p$ norms generate…
Consider the following computational problem: given a regular digraph $G=(V,E)$, two vertices $u,v \in V$, and a walk length $t\in \mathbb{N}$, estimate the probability that a random walk of length $t$ from $u$ ends at $v$ to within $\pm…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
We consider the motion-planning problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
Given a `genus' function $g=g(n)$, we let $\mathcal{E}^g$ be the class of all graphs $G$ such that if $G$ has order $n$ (that is, has $n$ vertices) then it is embeddable in a surface of Euler genus at most $g(n)$. Let the random graph $R_n$…
We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from an RGB camera, 3D LiDAR, and the robot's odometry sensor to…
A temporal graph $\mathcal{G}=(G,\lambda)$ can be represented by an underlying graph $G=(V,E)$ together with a function $\lambda$ that assigns to each edge $e\in E$ the set of time steps during which $e$ is present. The reachability graph…
In this paper, we present a learning method to solve the unlabelled motion problem with motion constraints and space constraints in 2D space for a large number of robots. To solve the problem of arbitrary dynamics and constraints we propose…
We consider the ideal orientation problem in planar graphs. In this problem, we are given an undirected graph $G$ with positive edge lengths and $k$ pairs of distinct vertices $(s_1, t_1), \dots, (s_k, t_k)$ called terminals, and we want to…
Motivated by the analogous questions in graphs, we study the complexity of coloring and stable set problems in hypergraphs with forbidden substructures and bounded edge size. Letting $\nu(G)$ denote the maximum size of a matching in $H$, we…