Related papers: GRACE: A Unified 2D Multi-Robot Path Planning Simu…
Conflicting sensor measurements pose a huge problem for the environment representation of an autonomous robot. Therefore, in this paper, we address the self-assessment of an evidential grid map in which data from conflicting LiDAR sensor…
The Multi-Agent Path Finding (MAPF) problem aims to find collision-free paths for multiple agents while optimizing objectives such as the sum of costs or makespan. MAPF has wide applications in domains like automated warehouses,…
The goal of Multi-Agent Path Finding (MAPF) is to find a set of paths for a fleet of agents moving in a shared environment such that the agents reach their goals without colliding with each other. In practice, some of the robots executing…
The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central…
To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…
Running numerous experiments in simulation is a necessary step before deploying a control system on a real robot. In this paper we introduce a novel benchmark that is aimed at quantitatively evaluating the quality of vision-based…
Multi-Agent Path Finding (MAPF) focuses on planning collision-free paths for multiple agents. However, during the execution of a MAPF plan, agents may encounter unexpected delays, which can lead to inefficiencies, deadlocks, or even…
Global Route-Planning Algorithms (GRPA) are required to compute paths between several points located on Earth's surface. A geodesic algorithm is employed as an auxiliary tool, increasing the precision of distance calculations. This work…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…
Recent advances in diffusion models hold significant potential in robotics, enabling the generation of diverse and smooth trajectories directly from raw representations of the environment. Despite this promise, applying diffusion models to…
In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path planning with local geometric awareness to enable collision-free…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
We present a Sequential Mobile Manipulation Planning (SMMP) framework that can solve long-horizon multi-step mobile manipulation tasks with coordinated whole-body motion, even when interacting with articulated objects. By abstracting…
Scene coordinate regression (SCR) methods are a family of visual localization methods that directly regress 2D-3D matches for camera pose estimation. They are effective in small-scale scenes but face significant challenges in large-scale…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
As AI systems enter high-stakes domains, evaluation must extend beyond predictive accuracy to include explainability, fairness, robustness, and sustainability. We introduce RAISE (Responsible AI Scoring and Evaluation), a unified framework…
Developing effective path representations has become increasingly essential across various fields within intelligent transportation. Although pre-trained path representation learning models have shown improved performance, they…
Multi-agent pathfinding (MAPF) is a common abstraction of multi-robot trajectory planning problems, where multiple homogeneous robots simultaneously move in the shared environment. While solving MAPF optimally has been proven to be NP-hard,…
Prevailing methods for training Large Language Models (LLMs) as text encoders rely on contrastive losses that treat the model as a black box function, discarding its generative and reasoning capabilities in favor of static embeddings. We…
Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles.…