Related papers: Topological Robotics: Subspace Arrangements and Co…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
We study the problem of determining coordinated motions, of minimum total length, for two arbitrary convex centrally-symmetric (CCS) robots in an otherwise obstacle-free plane. Using the total path length traced by the two robot centres as…
The concept of programmable matter envisions a very large number of tiny and simple robot particles forming a smart material. Even though the particles are restricted to local communication, local movement, and simple computation, their…
Motivated by targeted drug delivery, we investigate the gathering of particles in the full tilt model of externally controlled motion planning: A set of particles is located at the tiles of a polyomino with all particles reacting uniformly…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
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…
Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…
We study the problem of coordinating multiple robots along fixed geometric paths. Our contribution is threefold. First we formalize the intuitive concept of priorities as a binary relation induced by a feasible coordination solution,…
We compute the higher topological complexity of ordered configuration spaces of orientable surfaces, thus extending Cohen-Farber's description of the ordinary topological complexity of those spaces.
Using the notion of contiguity of simplicial maps, we adapt Farber's topological complexity to the realm of simplicial complexes. We show that, for a finite simplicial complex $K$, our discretized concept recovers the topological complexity…
In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…
We prove that the topological complexity of (a motion planning algorithm on) the complement of generic complex essential hyperplane arrangement of $n$ hyperplanes in an $r$-dimensional linear space is min$\{n+1,2r\}$.
Autonomous motion of a system (robot) is controlled by a motion planning algorithm. A sequential parametrized motion planning algorithm \cite{FP22} works under variable external conditions and generates continuous motions of the system to…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
The gathering over meeting nodes problem requires the robots to gather at one of the pre-defined meeting nodes. This paper investigates the problem with respect to the objective function that minimizes the total number of moves made by all…
We investigate motion planning algorithms for the assembly of shapes in the \emph{tilt model} in which unit-square tiles move in a grid world under the influence of uniform external forces and self-assemble according to certain rules. We…
We investigate computational issues in the distributed model Amoebots of programmable matter. In this model, the computational entities, called particles, are anonymous finite-state machines that operate and move on an hexagonal tasselation…
Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory optimizers may get stuck in local minima due to inherent…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter…