Related papers: Simulation-based planning of Motion Sequences for …
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The planned motions must also satisfy the differential constraints…
The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
This paper proposes a new optimal control synthesis algorithm for multi-robot systems under global temporal logic tasks. Existing planning approaches under global temporal goals rely on graph search techniques applied to a product automaton…
Robot manipulators operating in uncertain and non-convex environments present significant challenges for safe and optimal motion planning. Existing methods often struggle to provide efficient and formally certified collision risk…
Combining symbolic and geometric reasoning in multi-agent systems is a challenging task that involves planning, scheduling, and synchronization problems. Existing works overlooked the variability of task duration and geometric feasibility…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…
Decentralized multi-robot motion planning requires each robot to generate collision-free trajectories from local observations, without global sensing or reliable communication. However, most existing planners, whether classical or…
Robot swarms navigating through unknown obstacle environments are an emerging research area that faces challenges. Performing tasks in such environments requires swarms to achieve autonomous localization, perception, decision-making,…
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…
Multi-robot motion planning for high degree-of-freedom manipulators in shared, constrained, and narrow spaces is a complex problem and essential for many scenarios such as construction, surgery, and more. Traditional coupled methods plan…
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible…
The automated assembly of complex products requires a system that can automatically plan a physically feasible sequence of actions for assembling many parts together. In this paper, we present ASAP, a physics-based planning approach for…
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously…
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…
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…
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…
Product disassembly is a labor-intensive process and is far from being automated. Typically, disassembly is not robust enough to handle product varieties from different shapes, models, and physical uncertainties due to component…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…