Related papers: Mixed Discrete and Continuous Planning using Short…
The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant problems in robotics, such as collision-free motion planning,…
A Graph of Convex Sets (GCS) is a graph in which vertices are associated with convex programs and edges couple pairs of programs through additional convex costs and constraints. Any optimization problem over an ordinary weighted graph…
We present a novel algorithm that fuses the existing convex-programming based approach with heuristic information to find optimality guarantees and near-optimal paths for the Shortest Path Problem in the Graph of Convex Sets (SPP-GCS). Our…
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…
Graphs of Convex Sets (GCS) is a recent method for synthesizing smooth trajectories by decomposing the planning space into convex sets, forming a graph to encode the adjacency relationships within the decomposition, and then simultaneously…
We consider large-scale, implicit-search-based solutions to Shortest Path Problems on Graphs of Convex Sets (GCS). We propose GCS*, a forward heuristic search algorithm that generalizes A* search to the GCS setting, where a…
We address the Multi-Robot Motion Planning (MRMP) problem of computing collision-free trajectories for multiple robots in shared continuous environments. While existing frameworks effectively decompose MRMP into single-robot subproblems,…
Optimization based motion planning provides a useful modeling framework through various costs and constraints. Using Graph of Convex Sets (GCS) for trajectory optimization gives guarantees of feasibility and optimality by representing…
Given a graph, the shortest-path problem requires finding a sequence of edges with minimum cumulative length that connects a source vertex to a target vertex. We consider a variant of this classical problem in which the position of each…
We initiate the study of the parameterized complexity of the {\sc Collective Graph Exploration} ({\sc CGE}) problem. In {\sc CGE}, the input consists of an undirected connected graph $G$ and a collection of $k$ robots, initially placed at…
Temporal logic is a concise way of specifying complex tasks. But motion planning to achieve temporal logic specifications is difficult, and existing methods struggle to scale to complex specifications and high-dimensional system dynamics.…
We study the vertex-decremental Single-Source Shortest Paths (SSSP) problem: given an undirected graph $G=(V,E)$ with lengths $\ell(e)\geq 1$ on its edges and a source vertex $s$, we need to support (approximate) shortest-path queries in…
The Minimum Consistent Subset (MCS) problem arises naturally in the context of supervised clustering and instance selection. In supervised clustering, one aims to infer a meaningful partitioning of data using a small labeled subset.…
Motion planning for autonomous vehicles requires generating collision-free and dynamically feasible trajectories in complex environments under real-time constraints. While nonlinear optimal control formulations provide high-fidelity…
We study GCS-TSP, a new variant of the Traveling Salesman Problem (TSP) defined over a Graph of Convex Sets (GCS) -- a powerful representation for trajectory planning that decomposes the configuration space into convex regions connected by…
Minimum Weight Cycle (MWC) is the problem of finding a simple cycle of minimum weight in a graph $G=(V,E)$. This is a fundamental graph problem with classical sequential algorithms that run in $\tilde{O}(n^3)$ and $\tilde{O}(mn)$ time where…
In this paper, we create optimal, collision-free, time-dependent trajectories through cluttered dynamic environments. The many spatial and temporal constraints make finding an initial guess for a numerical solver difficult. Graphs of Convex…
The Restricted Shortest Path (RSP) problem, also known as the Delay-Constrained Least-Cost (DCLC) problem, is an NP-hard bicriteria optimization problem on graphs with $n$ vertices and $m$ edges. In a graph where each edge is assigned a…
We initiate the study of a fundamental combinatorial problem: Given a capacitated graph $G=(V,E)$, find a shortest walk ("route") from a source $s\in V$ to a destination $t\in V$ that includes all vertices specified by a set…
We study the problem of determining coordinated motions, of minimum total length, for two arbitrary convex centrally-symmetric (CCS) robots in an otherwise obstacle-free plane. Using the total path length traced by the two robot centres as…