Related papers: A MILP-Based Solution to Multi-Agent Motion Planni…
We address the optimal design of a large scale multi-agent system where each agent has discrete and/or continuous decision variables that need to be set so as to optimize the sum of linear local cost functions, in presence of linear local…
We present new models of optimization-based task and motion planning (TAMP) for robotic pick-and-place (P&P), which plan action sequences and motion trajectory with low computational costs. We improved an existing state-of-the-art TAMP…
Navigating rigid body objects through crowded environments can be challenging, especially when narrow passages are presented. Existing sampling-based planners and optimization-based methods like mixed integer linear programming (MILP)…
Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging non-convex and discontinuous optimization problems. Traditional methods often falter due to the nonlinear characteristics of these…
We present a scalable and effective multi-agent safe motion planner that enables a group of agents to move to their desired locations while avoiding collisions with obstacles and other agents, with the presence of rich obstacles,…
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…
Planning in hybrid systems with both discrete and continuous control variables is important for dealing with real-world applications such as extra-planetary exploration and multi-vehicle transportation systems. Meanwhile, generating…
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…
This paper addresses the problem of motion planning for differential drive micro-mobility platforms. This class of vehicle is designed to perform small-distance transportation of passengers and goods in structured environments. Our approach…
In this work we consider the multi-agent motion planning (MAMP) problem with the constraint that agents arrive at their respective goals at the same time. For the special case where all agents are initially at rest we propose a two-step…
The Multi-Agent Path Finding (MAPF) problem aims to find collision-free paths for multiple agents while optimizing objectives such as the sum of costs or makespan. MAPF has wide applications in domains like automated warehouses,…
Multi-Agent Path Finding (MAPF) is a long-standing problem in Robotics and Artificial Intelligence in which one needs to find a set of collision-free paths for a group of mobile agents (robots) operating in the shared workspace. Due to its…
Multi-product pipelines are a highly efficient means of transporting liquids. Traditionally used to transport petroleum, its products and derivatives, they are now being repurposed to transport liquified natural gas admixed with hydrogen of…
Multi-agent path planning (MAPP) is the problem of planning collision-free trajectories from start to goal locations for a team of agents. This work explores a relatively unexplored setting of MAPP where streams of agents have to go through…
In this paper we deal with a network of agents seeking to solve in a distributed way Mixed-Integer Linear Programs (MILPs) with a coupling constraint (modeling a limited shared resource) and local constraints. MILPs are NP-hard problems and…
This work considers the problem of optimal lane changing in a structured multi-agent road environment. A novel motion planning algorithm that can capture long-horizon dependencies as well as short-horizon dynamics is presented. Pivotal to…
In this paper we solve mixed-integer linear programs (MILPs) via distributed asynchronous saddle point computation. This work is motivated by the MILPs being able to model problems in multi-agent autonomy, such as task assignment problems…
Finite-time motion planning with collision avoidance is a challenging issue in multi-agent systems. This paper proposes a novel distributed controller based on a new Lyapunov barrier function which guarantees finite-time stability for…
We consider a cooperative vehicle routing problem for surveillance and reconnaissance missions with communication constraints between the vehicles. We propose a framework which involves a ground vehicle and an aerial vehicle; the vehicles…
We study Multi-Agent Path Finding for arrangements of labeled agents in the interior of a simply connected domain: Given a unique start and target position for each agent, the goal is to find a sequence of parallel, collision-free agent…