Related papers: Coordinated Motion Planning is FPT on Discretized …
Multi-robot motion planning (MRMP) is the fundamental problem of finding non-colliding trajectories for multiple robots acting in an environment, under kinodynamic constraints. Due to its complexity, existing algorithms either utilize…
Many well-known NP-hard algorithmic problems on directed graphs resist efficient parametrisations with most known width measures for directed graphs, such as directed treewidth, DAG-width, Kelly-width and many others. While these focus on…
In this paper we focus on the map matching problem where the goal is to find a path through a planar graph such that the path through the vertices closely matches a given polygonal curve. The map matching problem is usually approached with…
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…
Motion planning is a fundamental problem in robotics that involves generating feasible trajectories for a robot to follow. Recent advances in parallel computing, particularly through CPU and GPU architectures, have significantly reduced…
Kinodynamic Motion Planning (KMP) is to find a robot motion subject to concurrent kinematics and dynamics constraints. To date, quite a few methods solve KMP problems and those that exist struggle to find near-optimal solutions and exhibit…
Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on motion planning for one particular setup wherein a six-legged…
Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…
We initiate the study of the parameterized complexity of the {\sc Collective Graph Exploration} ({\sc CGE}) problem. In {\sc CGE}, the input consists of an undirected connected graph $G$ and a collection of $k$ robots, initially placed at…
Mobile robots, especially unmanned aerial vehicles (UAVs), are of increasing interest for surveillance and disaster response scenarios. We consider the problem of multi-robot persistent surveillance with connectivity constraints where…
To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…
We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such tasks using tools from convex optimization. We formulate the…
In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
Robot motion planning is central to real-world autonomous applications, such as self-driving cars, persistence surveillance, and robotic arm manipulation. One challenge in motion planning is generating control signals for nonlinear systems…
Constrained Motion Planning (CMP) aims to find a collision-free path between the given start and goal configurations on the kinematic constraint manifolds. These problems appear in various scenarios ranging from object manipulation to…
The steady development of motor vehicle technology will enable cars of the near future to assume an ever increasing role in the decision making and control of the vehicle itself. In the foreseeable future, cars will have the ability to…
In the Disjoint Shortest Paths problem one is given a graph $G$ and a set $\mathcal{T}=\{(s_1,t_1),\dots,(s_k,t_k)\}$ of $k$ vertex pairs. The question is whether there exist vertex-disjoint paths $P_1,\dots,P_k$ in $G$ so that each $P_i$…
Matroids, particularly linear ones, have been a powerful tool in parameterized complexity for algorithms and kernelization. They have sped up or replaced dynamic programming. Delta-matroids generalize matroids by encapsulating structures…