相关论文: PHA*: Finding the Shortest Path with A* in An Unkn…
In this paper, we consider the problem of path finding for a set of homogeneous and autonomous agents navigating a previously unknown stochastic environment. In our problem setting, each agent attempts to maximize a given utility function…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics that asks us to compute collision-free paths for a team of agents, all moving across a shared map. Although many works appear on this topic, all current algorithms…
Traveling to different destinations is a big part of our lives. We visit a variety of locations both during our daily lives and when we're on vacation. How can we find the best way to navigate from one place to another? Perhaps we can test…
The classic Resource Constrained Shortest Path (RCSP) problem aims to find a cost optimal path between a pair of nodes in a network such that the resources used in the path are within a given limit. Having been studied for over a decade,…
The study addressed the problem of Anonymous Multi-Agent Path-finding (AMAPF). Unlike the classical formulation, where the assignment of agents to goals is fixed, in the anonymous MAPF setting it is irrelevant which agent reaches specific…
We study the problem of rendezvous of two mobile agents starting at distinct locations in an unknown graph. The agents have distinct labels and walk in synchronous steps. However the graph is unlabelled and the agents have no means of…
Bi-objective search is a well-known algorithmic problem, concerned with finding a set of optimal solutions in a two-dimensional domain. This problem has a wide variety of applications such as planning in transport systems or optimal control…
The multi-agent path finding (MAPF) problem is a combinatorial search problem that aims at finding paths for multiple agents (e.g., robots) in an environment (e.g., an autonomous warehouse) such that no two agents collide with each other,…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
In the Multi-Agent Path Finding (MAPF) problem, the goal is to find non-colliding paths for agents in an environment, such that each agent reaches its goal from its initial location. In safety-critical applications, a human supervisor may…
We study a graph pathfinding problem Distance-$r$ Independent Unlabeled Multi-Agent Pathfinding, finding a set of collision-free paths between two sets where agents must stay at pairwise distance at least $r+1$ at all times. This additional…
The most crucial challenges for UAVs are planning paths and avoiding obstacles in their way. In recent years, a wide variety of path-planning algorithms have been developed. These algorithms have successfully solved path-planning problems;…
Path finding problems involve identification of a plan for conflict free movement of agents over a common road network. Most approaches to this problem handle the agents as point objects, wherein the size of the agent is significantly…
A major challenge with off-road autonomous navigation is the lack of maps or road markings that can be used to plan a path for autonomous robots. Classical path planning methods mostly assume a perfectly known environment without accounting…
The problem of finding the shortest path in a graph G(V, E) has been widely studied. However, in many applications it is necessary to compute an arbitrary number of them, k. Even though the problem has raised a lot of interest from…
This paper proposes two novel path planning algorithms, Roadmap Hybrid A* and Waypoints Hybrid A*, for car-like autonomous vehicles in logistics and industrial contexts with obstacles (e.g., pallets or containers) and narrow corridors.…
The quadratic shortest path problem is the problem of finding a path in a directed graph such that the sum of interaction costs over all pairs of arcs on the path is minimized. We derive several semidefinite programming relaxations for the…
We address the persistent monitoring problem in two-dimensional mission spaces where the objective is to control the trajectories of multiple cooperating agents to minimize an uncertainty metric. In a one-dimensional mission space, we have…
In this paper, a novel method for path planning of mobile robots is proposed, taking into account the non-holonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate a…
We introduce a new heuristic for the A* algorithm that references a data structure significantly smaller than that of ALT. We characterize the behavior of this new heuristic based on a dual landmark configuration that leverages…