Related papers: Navigating the Clutter: Waypoint-Based Bi-Level Pl…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…
Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
We present an algorithm for obtaining an optimal control policy for hybrid dynamical systems in cluttered environments. To the best of our knowledge, this is the first attempt to have a locally optimal solution for this specific problem…
Multi-robot path finding in dynamic environments is a highly challenging classic problem. In the movement process, robots need to avoid collisions with other moving robots while minimizing their travel distance. Previous methods for this…
This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…
Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…
In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…
We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level…
In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…