Related papers: Optimal Path Planning in Hostile Environments
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…
Moving an autonomous agent through an unknown environment is one of the crucial problems for robotics and network analysis. Therefore, it received a lot of attention in the last decades and was analyzed in many different settings. The graph…
We study Multi-Agent Path Finding for arrangements of labeled agents in the interior of a simply connected domain: Given a unique start and target position for each agent, the goal is to find a sequence of parallel, collision-free agent…
Multi-Agent Path Finding (MAPF) is a long-standing problem in Robotics and Artificial Intelligence in which one needs to find a set of collision-free paths for a group of mobile agents (robots) operating in the shared workspace. Due to its…
The Multi-Agent Path Finding (MAPF) problem involves planning collision-free paths for multiple agents in a shared environment. The majority of MAPF solvers rely on the assumption that an agent can arrive at a specific location at a…
In this paper a deep reinforcement based multi-agent path planning approach is introduced. The experiments are realized in a simulation environment and in this environment different multi-agent path planning problems are produced. The…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
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…
This paper studies a team coordination problem in a graph environment. Specifically, we incorporate "support" action which an agent can take to reduce the cost for its teammate to traverse some edges that have higher costs otherwise. Due to…
Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem for a fleet of hybrid-fuel unmanned aerial vehicles which…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
Avoiding collisions is one of the vital tasks for systems of autonomous mobile agents. We focus on the problem of finding continuous coordinated paths for multiple mobile disc agents in a 2-d environment with polygonal obstacles. The…
Traditional approaches to the design of multi-agent navigation algorithms consider the environment as a fixed constraint, despite the obvious influence of spatial constraints on agents' performance. Yet hand-designing improved environment…
In recent years, advancements have been made towards the goal of using chaotic coverage path planners for autonomous search and traversal of spaces with limited environmental cues. However, the state of this field is still in its infancy as…
Timely delivery and optimal routing remain fundamental challenges in the modern logistics industry. Building on prior work that considers single-package delivery across networks using multiple types of collaborative agents with restricted…
Motivated by an emerging framework of Autonomous Modular Vehicles, we consider the abstract problem of optimally routing two modules, i.e., vehicles that can attach to or detach from each other in motion on a graph. The modules' objective…
We study a fundamental NP-hard motion coordination problem for multi-robot/multi-agent systems: We are given a graph $G$ and set of agents, where each agent has a given directed path in $G$. Each agent is initially located on the first…
We study the problem of allocating indivisible items to agents with additive valuations, under the additional constraint that bundles must be connected in an underlying item graph. Previous work has considered the existence and complexity…
Path cover is a well-known intractable problem that finds a minimum number of vertex disjoint paths in a given graph to cover all the vertices. We show that a variant, where the objective function is not the number of paths but the number…
This paper proposes an online path planning and motion generation algorithm for heterogeneous robot teams performing target search in a real-world environment. Path selection for each robot is optimized using an information-theoretic…