Related papers: Topological Robotics: Subspace Arrangements and Co…
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…
We consider the problem of robot motion planning in an oriented Riemannian manifold as a topological motion planning problem in its oriented frame bundle. For this purpose, we study the topological complexity of oriented frame bundles,…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
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…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
Motion planning for robots of high degrees-of-freedom (DOFs) is an important problem in robotics with sampling-based methods in configuration space C as one popular solution. Recently, machine learning methods have been introduced into…
In Coordinated Motion Planning (CMP), we are given a rectangular-grid on which $k$ robots occupy $k$ distinct starting gridpoints and need to reach $k$ distinct destination gridpoints. In each time step, any robot may move to a neighboring…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
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).…
Motion path planning is an intrinsically geometric problem which is central for design of robot systems. Since the early years of AI, robotics together with computer vision have been the areas of computer science that drove its development.…
Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…
Creating a swarm of mobile computing entities frequently called robots, agents or sensor nodes, with self-organization ability is a contemporary challenge in distributed computing. Motivated by this, we investigate the plane formation…
Given a set of $n\geq 1$ autonomous, anonymous, indistinguishable, silent, and possibly disoriented mobile unit disk (i.e., fat) robots operating following Look-Compute-Move cycles in the Euclidean plane, we consider the Pattern Formation…
The gathering over meeting nodes problem asks the robots to gather at one of the pre-defined meeting nodes. The robots are deployed on the nodes of an anonymous two-dimensional infinite grid which has a subset of nodes marked as meeting…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
Farber and Rudyak introduced topological complexity $\mathbf{TC}(X)$ of motion planning and its higher analogs $\mathbf{TC}_n(X)$ to measure the complexity of assigning paths to point tuples. Motivated by motion planning where a robotic…
We present a simple and natural extension of the multi-robot motion planning problem where the robots are partitioned into groups (colors), such that in each group the robots are interchangeable. Every robot is no longer required to move to…
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…