Related papers: Parametrized Topological Complexity for a Multi-Ro…
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
We consider the unlabeled motion-planning problem of $m$ unit-disc robots moving in a simple polygonal workspace of $n$ edges. The goal is to find a motion plan that moves the robots to a given set of $m$ target positions. For the unlabeled…
This paper considers the motion planning problem for multiple tethered planar mobile robots. Each robot is attached to a fixed base by a flexible cable. Since the robots share a common workspace, the interactions amongst the robots, cables,…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
Instabilities of robot motion are caused by topological reasons. In this paper we find a relation between the topological properties of a configuration space (the structure of its cohomology algebra) and the character of instabilities,…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
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…
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…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for…
The topological complexity TC(X) is a homotopy invariant which reflects the complexity of the problem of constructing a motion planning algorithm in the space X, viewed as configuration space of a mechanical system. In this paper we…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
We study the problem of coordinating multiple robots along fixed geometric paths. Our contribution is threefold. First we formalize the intuitive concept of priorities as a binary relation induced by a feasible coordination solution,…
We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…
Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or…