Related papers: Coordinated Motion Planning is FPT on Discretized …
A stable cutset in a graph $G$ is a set $S\subseteq V(G)$ such that vertices of $S$ are pairwise non-adjacent and such that $G-S$ is disconnected, i.e., it is both stable (or independent) set and a cutset (or separator). Unlike general…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
Motion Planning (MP) is a critical challenge in robotics, especially pertinent with the burgeoning interest in embodied artificial intelligence. Traditional MP methods often struggle with high-dimensional complexities. Recently neural…
In the problem of multi-robot motion planning, a group of robots, placed in a polygonal domain with obstacles, must be moved from their starting positions to a set of target positions. We consider the specific case of unlabeled disc robots…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
This work considers the path planning problem for a team of identical robots evolving in a known environment. The robots should satisfy a global specification given as a Linear Temporal Logic (LTL) formula over a set of regions of interest.…
This paper studies motion planning of a mobile robot under uncertainty. The control objective is to synthesize a {finite-memory} control policy, such that a high-level task specified as a Linear Temporal Logic (LTL) formula is satisfied…
Over the years, much research involving mobile computational entities has been performed. From modeling actual microscopic (and smaller) robots, to modeling software processes on a network, many important problems have been studied in this…
This paper focuses on the motion planning problem for the systems exhibiting both continuous and discrete behaviors, which we refer to as hybrid dynamical systems. Firstly, the motion planning problem for hybrid systems is formulated using…
In this work we consider the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting. Vision is the only mean of coordination. Using a…
We introduce a novel approach of using important cuts which allowed us to design significantly faster fixed-parameter tractable (FPT) algorithms for the following routing problems: the Mixed Chinese Postman Problem parameterized by the…
Let F be a finite set of graphs. In the F-Deletion problem, we are given an n-vertex graph G and an integer k as input, and asked whether at most k vertices can be deleted from G such that the resulting graph does not contain a graph from F…
Ordered matchings, defined as graphs with linearly ordered vertices, where each vertex is connected to exactly one edge, play a crucial role in the area of ordered graphs and their homomorphisms. Therefore, we consider related problems from…
We design an algorithm writing down presentations of graph braid groups. Generators are represented in terms of actual motions of robots moving without collisions on a given graph. A key ingredient is a new motion planning algorithm whose…
In this paper, we present a learning method to solve the unlabelled motion problem with motion constraints and space constraints in 2D space for a large number of robots. To solve the problem of arbitrary dynamics and constraints we propose…
In this paper, we present a learning method to solve the unlabelled motion problem with motion constraints and space constraints in 2D space for a large number of robots. To solve the problem of arbitrary dynamics and constraints we propose…
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
Effective communication is key to successful, decentralized, multi-robot path planning. Yet, it is far from obvious what information is crucial to the task at hand, and how and when it must be shared among robots. To side-step these issues…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…