Related papers: Multi-Objective Trajectory Planning for a Robotic …
The most crucial challenges for UAVs are planning paths and avoiding obstacles in their way. In recent years, a wide variety of path-planning algorithms have been developed. These algorithms have successfully solved path-planning problems;…
Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
Control barrier functions (CBF) are widely explored to enforce the safety-critical constraints on nonlinear systems recently. There are many researchers incorporating the control barrier functions into path planning algorithms to find a…
This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also bring in the requirement of the…
Recent researches on robotics have shown significant improvement, spanning from algorithms, mechanics to hardware architectures. Robotics, including manipulators, legged robots, drones, and autonomous vehicles, are now widely applied in…
Particle accelerators require constant tuning during operation to meet beam quality, total charge and particle energy requirements for use in a wide variety of physics, chemistry and biology experiments. Maximizing the performance of an…
NSGA-III is one of the most widely adopted algorithms for tackling many-objective optimization problems. However, its CPU-based design severely limits scalability and computational efficiency. To address the limitations, we propose…
This study tasckles the problem of many-objective sequence optimization for semi-automated robotic disassembly operations. To this end, we employ a many-objective genetic algorithm (MaOGA) algorithm inspired by the Non-dominated Sorting…
This work focuses on the dual-arm object rearrangement problem abstracted from a realistic industrial scenario of Cartesian robots. The goal of this problem is to transfer all the objects from sources to targets with the minimum total…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
This paper outlines a modification on the Bat Algorithm (BA), a kind of swarm optimization algorithms with for the mobile robot navigation problem in a dynamic environment. The main objectives of this work are to obtain the collision-free,…
In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…
Obstacle avoidance is one of the essential and indispensable functions for autonomous mobile robots. Most of the existing solutions are typically based on single condition constraint and cannot incorporate sensor data in a real-time manner,…
We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…
Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can…
Planning dual-arm assembly of more than three objects is a challenging Task and Motion Planning (TAMP) problem. The assembly planner shall consider not only the pose constraints of objects and robots, but also the gravitational constraints…
Indoor multi-robot communications face two key challenges: one is the severe signal strength degradation caused by blockages (e.g., walls) and the other is the dynamic environment caused by robot mobility. To address these issues, we…
This paper introduces a rescue robot named Sigma 3 which is developed for potential applications such as helping hands for humans where a human can not reach to have an assessment of the hazardous environment. Also, these kinds of robot can…