Related papers: Unlabeled Multi-Robot Motion Planning with Improve…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
We consider the problem of connected coordinated motion planning for a large collective of simple, identical robots: From a given start grid configuration of robots, we need to reach a desired target configuration via a sequence of…
Let $W \subset \mathbb{R}^2$ be a planar polygonal environment with $n$ vertices, and let $[k] = \{1,\ldots,k\}$ denote $k$ unit-square robots translating in $W$. Given source and target placements $s_1, t_1, \ldots, s_k, t_k \in W$ for…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
We perform structural and algorithmic studies of significantly generalized versions of the optimal perimeter guarding (OPG) problem. As compared with the original OPG where robots are uniform, in this paper, many mobile robots with…
When considering motion planning for a swarm of $n$ labeled robots, we need to rearrange a given start configuration into a desired target configuration via a sequence of parallel, collision-free robot motions. The objective is to reach the…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
Many combinatorial optimization problems can be formulated as the search for a subgraph that satisfies certain properties and minimizes the total weight. We assume here that the vertices correspond to points in a metric space and can take…
This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…
This paper aims to put forward the concept that learning to take safe actions in unknown environments, even with probability one guarantees, can be achieved without the need for an unbounded number of exploratory trials, provided that one…
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…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…