Related papers: Parametrized Topological Complexity for a Multi-Ro…
This paper is concerned with problems relevant to motion planning in robotics. Configuration spaces are of practical relevance in designing safe control schemes for robots moving on a track. The topological complexity of a configuration…
In this work we will review the notion of topological complexity, introduced by Michael Farber in 2003. We will use this theory of topological complexity to solve the motion planning problem of a mobile robot that navigates in the Euclidean…
In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
We study an elementary problem of topological robotics: rotation of a line, which is fixed by a revolving joint at a base point: one wants to bring the line from its initial position to a final position by a continuous motion in the space.…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
We study computationally-hard fundamental motion planning problems where the goal is to translate $k$ axis-aligned rectangular robots from their initial positions to their final positions without collision, and with the minimum number of…
We introduce the topological complexity of the work map associated to a robot system. In broad terms, this measures the complexity of any algorithm controlling, not just the motion of the configuration space of the given system, but the…
The topological complexity TC(X) is a numerical homotopy invariant of a topological space X which is motivated by robotics and is similar in spirit to the classical Lusternik-Schnirelmann category of X. Given a mechanical system with…
We study the topological complexity of work maps with respect to some subspaces of the configuration space and a workspace considered as the target set of the motion of robots. The motivation is to optimize and reduce the number of motion…
Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…
We study the parameterized complexity of a generalization of the coordinated motion planning problem on graphs, where the goal is to route a specified subset of a given set of $k$ robots to their destinations with the aim of minimizing the…
In this paper we study a notion of topological complexity for the motion planning problem. The topological complexity is a number which measures discontinuity of the process of motion planning in the configuration space X. More precisely,…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
We study certain topological problems that are inspired by applications to autonomous robot manipulation. Consider a continuous map $f\colon X\to Y$, where $f$ can be a kinematic map from the configuration space $X$ to the working space $Y$…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
We consider a distributed system of n identical mobile robots operating in the two dimensional Euclidian plane. As in the previous studies, we consider the robots to be anonymous, oblivious, dis-oriented, and without any communication…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…