Related papers: Multi-robot Path Planning and Scheduling via Model…
We address the path planning problem for a team of robots satisfying a complex high-level mission specification given in the form of an Linear Temporal Logic (LTL) formula. The state-of-the-art approach to this problem employs the…
This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
When designing a motion planner for autonomous robots there are usually multiple objectives to be considered. However, a cost function that yields the desired trade-off between objectives is not easily obtainable. A common technique across…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
In this paper, we present a receding-horizon, sampling-based planner capable of reasoning over multimodal policy distributions. By using the cross-entropy method to optimize a multimodal policy under a common cost function, our approach…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…
Multi-robot navigation and path planning in continuous state and action spaces with uncertain environments remains an open challenge. Deep Reinforcement Learning (RL) is one of the most popular paradigms for solving this task, but its…
We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…
We consider problems in which a mobile robot samples an unknown function defined over its operating space, so as to find a global optimum of this function. The path traveled by the robot matters, since it influences energy and time…
We present an algorithm for safe robot navigation in complex dynamic environments using a variant of model predictive equilibrium point control. We use an optimization formulation to navigate robots gracefully in dynamic environments by…
Online collision-free trajectory generation within a shared workspace is fundamental for most multi-robot applications. However, many widely-used methods based on model predictive control (MPC) lack theoretical guarantees on the feasibility…
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms for control and…
The labeled MRPP (Multi-Robot Path Planning) problem involves routing robots from start to goal configurations efficiently while avoiding collisions. Despite progress in solution quality and runtime, its complexity and industrial relevance…
Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…