相关论文: k-Color Multi-Robot Motion Planning
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
Multi-robot task allocation is one of the most fundamental classes of problems in robotics and is crucial for various real-world robotic applications such as search, rescue and area exploration. We consider the Single-Task robots and…
In this paper we present distributed and adaptive algorithms for motion coordination of a group of m autonomous vehicles. The vehicles operate in a convex environment with bounded velocity and must service demands whose time of arrival,…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
Modern sampling-based motion planning algorithms typically take between hundreds of milliseconds to dozens of seconds to find collision-free motions for high degree-of-freedom problems. This paper presents performance improvements of more…
We study unlabeled multi-robot motion planning for unit-disk robots in a polygonal environment. Although the problem is hard in general, polynomial-time solutions exist under appropriate separation assumptions on start and target positions.…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
A novel multi-robot path planning approach is presented in this paper. Based on the standard Dijkstra, the algorithm looks for the optimal paths for a formation of robots, taking into account the possibility of split and merge. The…
The mobile robot dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of…
We propose a generic multi-robot planning mechanism that combines an optimal task planner and an optimal path planner to provide a scalable solution for complex multi-robot planning problems. The Integrated planner, through the interaction…
Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
The well-studied DISPERSION problem is a fundamental coordination problem in distributed robotics, where a set of mobile robots must relocate so that each occupies a distinct node of a network. DISPERSION assumes that a robot can settle at…
In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confined unknown environment where the number of colored spots which represent tasks and the ratios of them are…
Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles.…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
The $K$-nearest neighbors is a basic problem in machine learning with numerous applications. In this problem, given a (training) set of $n$ data points with labels and a query point $p$, we want to assign a label to $p$ based on the labels…
Planning long-horizon robot manipulation requires making discrete decisions about which objects to interact with and continuous decisions about how to interact with them. A robot planner must select grasps, placements, and motions that are…
Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…