Related papers: Automated Generation of Continuous-Space Roadmaps …
We present a novel approach called Optimized Directed Roadmap Graph (ODRM). It is a method to build a directed roadmap graph that allows for collision avoidance in multi-robot navigation. This is a highly relevant problem, for example for…
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…
Mobile robot path planning in complex environments remains a significant challenge, especially in achieving efficient, safe and robust paths. The traditional path planning techniques like DRL models typically trained for a given…
High Definition (HD) maps are necessary for many applications of automated driving (AD), but their manual creation and maintenance is very costly. Vehicle fleet data from series production vehicles can be used to automatically generate HD…
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…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and energy-efficient trajectories. In this article, we…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
Path generation, the process of converting high-level mission specifications, such as sequences of waypoints from a path planner, into smooth, executable paths, is a fundamental challenge in mobile robotics. Most path following and…
A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning.…
Multi-agent path planning (MAPP) in continuous spaces is a challenging problem with significant practical importance. One promising approach is to first construct graphs approximating the spaces, called roadmaps, and then apply multi-agent…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
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 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…
In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
Agricultural environments present high proportions of spatially dense navigation bottlenecks for long-term navigation and operational planning of agricultural mobile robots. The existing agent-centric multi-robot path planning (MRPP)…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…