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We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Innovative shared mobility services provide on-demand flexible mobility options and have the potential to alleviate traffic congestion. These attractive services are challenging from different perspectives. One major challenge in such…
Stop location detection, within human mobility studies, has an impacts in multiple fields including urban planning, transport network design, epidemiological modeling, and socio-economic segregation analysis. However, it remains a…
This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…
The paper addresses the Vehicle Relocation Problem in free-floating car-sharing services by presenting a solution focused on strategies for repositioning vehicles and transferring personnel with the use of scooters. Our method begins by…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…
In autonomous mobility-on-demand systems, effectively managing vehicle flows to mitigate induced congestion and ensure efficient operations is imperative for system performance and positive customer experience. Against this background, we…
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…
We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dynamic Vehicle Routing Problem (DVRP) and requires robots to…
Smart-parking solutions use sensors, cameras, and data analysis to improve parking efficiency and reduce traffic congestion. Computer vision-based methods have been used extensively in recent years to tackle the problem of parking lot…
With increased travelling needs more than ever, traffic congestion has become a major concern in most urban areas. Allocating spaces for on-street parking, further hinders traffic flow, by limiting the effective road width available for…
In dense traffic scenarios, ensuring safety while keeping high task performance for autonomous driving is a critical challenge. To address this problem, this paper proposes a computationally-efficient spatiotemporal receding horizon control…
Constraint Programming (CP) offers an intuitive, declarative framework for modeling Vehicle Routing Problems (VRP), yet classical CP models based on successor variables cannot always deal with optional visits or insertion based heuristics.…
We present a novel algorithm for computing collision-free navigation for heterogeneous road-agents such as cars, tricycles, bicycles, and pedestrians in dense traffic. Our approach currently assumes the positions, shapes, and velocities of…
The challenges to solving the collision avoidance problem lie in adaptively choosing optimal robot velocities in complex scenarios full of interactive obstacles. In this paper, we propose a distributed approach for multi-robot navigation…
Reactive trajectory optimization for robotics presents formidable challenges, demanding the rapid generation of purposeful robot motion in complex and swiftly changing dynamic environments. While much existing research predominantly…
Multi-object transport using multi-robot systems has the potential for diverse practical applications such as delivery services owing to its efficient individual and scalable cooperative transport. However, allocating transportation tasks…
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…