Related papers: Automated Generation of Continuous-Space Roadmaps …
We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on…
Multi-robot path planning is difficult due to the combinatorial explosion of the search space with every new robot added. Complete search of the combined state-space soon becomes intractable. In this paper we present a novel form of…
Robot navigation using deep reinforcement learning (DRL) has shown great potential in improving the performance of mobile robots. Nevertheless, most existing DRL-based navigation methods primarily focus on training a policy that directly…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
Robots performing tasks in warehouses provide the first example of wide-spread adoption of autonomous vehicles in transportation and logistics. The efficiency of these operations, which can vary widely in practice, are a key factor in the…
Existing industrial-scale navigation applications contend with massive road networks, typically employing two main categories of approaches for route planning. The first relies on precomputed road costs for optimal routing and heuristic…
Grid mapping is a fundamental approach to modeling the environment of intelligent vehicles or robots. Compared with object-based environment modeling, grid maps offer the distinct advantage of representing the environment without requiring…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
In this paper, we propose a novel methodology for path planning and scheduling for multi-robot navigation that is based on optimal transport theory and model predictive control. We consider a setup where $N$ robots are tasked to navigate to…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
The emergence of Autonomous Mobility-on-Demand (AMoD) services creates new opportunities to improve the efficiency and reliability of on-demand mobility systems. Unlike human-driven Mobility-on-Demand (MoD), AMoD enables fully centralized…
This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled…
Mobile robots frequently navigate on roadmaps, i.e., graphs where edges represent safe motions, in applications such as healthcare, hospitality, and warehouse automation. Often the environment is quasi-static, i.e., it is sufficient to…
The design of Autonomous Vehicle software has largely followed the Sense-Plan-Act model. Traditional modular AV stacks develop perception, planning, and control software separately with little integration when optimizing for different…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
As labor shortages and productivity stagnation increasingly challenge the construction industry, automation has become essential for sustainable infrastructure development. This paper presents an autonomous payload transportation system as…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics that asks us to compute collision-free paths for a team of agents, all moving across a shared map. Although many works appear on this topic, all current algorithms…
A novel multi-robot path planning approach is presented in this paper. Based on the standard Dijkstra, the algorithm looks for the optimal paths for a formation of robots, taking into account the possibility of split and merge. The…
Maps are essential for diverse applications, such as vehicle navigation and autonomous robotics. Both require spatial models for effective route planning and localization. This paper addresses the challenge of road graph construction for…
This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…