相关论文: A Conflict-Based Path-Generation Heuristic for Eva…

We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…

Real-time dynamic path planning in complex traffic environments presents challenges, such as varying traffic volumes and signal wait times. Traditional static routing algorithms like Dijkstra and A* compute shortest paths but often fail…

The interdiction of escaping adversaries in urban networks is a critical security challenge. State-of-the-art game-theoretic models, such as the Escape Interdiction Game (EIG), provide comprehensive frameworks but assume a highly dynamic…

Traffic evacuation plays a critical role in saving lives in devastating disasters such as hurricanes, wildfires, floods, earthquakes, etc. An ability to evaluate evacuation plans in advance for these rare events, including identifying…

This paper introduces a novel algorithm for multiagent offline trajectory generation based on distributed model predictive control. Central to the algorithm's scalability and success is the development of an on-demand collision avoidance…

The spread of invasive species to new areas threatens the stability of ecosystems and causes major economic losses in agriculture and forestry. We propose a novel approach to minimizing the spread of an invasive species given a limited…

Timely evacuation is crucial to disaster response, as people can avoid suffering and loss of lives when a major disaster happens. With the development of sharing economy, ridesharing has the advantage of reducing congestion, saving travel…

In this work, we formulate the problem of team formation amidst conflicts. The goal is to assign individuals to tasks, with given capacities, taking into account individuals' task preferences and the conflicts between them. Using dependent…

The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…

Multi-Agent Path Finding (MAPF) requires collision-free trajectories for multiple agents on a shared graph, often with the objective of minimizing the sum-of-costs (SOC). Many optimal and bounded-suboptimal solvers rely on time-expanded…

There has been a plethora of work towards improving robot perception and navigation, yet their application in hazardous environments, like during a fire or an earthquake, is still at a nascent stage. We hypothesize two key challenges here:…

The Single-Source Shortest Path (SSSP) problem is well-known for the challenges in developing fast, practical, and work-efficient parallel algorithms. This work introduces a novel shortest path search method. It allows paths with different…

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…

Traffic incidents remain a critical public safety concern worldwide, with Australia recording 1,300 road fatalities in 2024, which is the highest toll in 12 years. Similarly, the United States reports approximately 6 million crashes…

In this work, we develop a distributed source routing algorithm for topology discovery suitable for ISP transport networks, that is however inspired by opportunistic algorithms used in ad hoc wireless networks. We propose a plug-and-play…

Multi-agent path finding (MAPF) is the problem of moving agents to the goal vertex without collision. In the online MAPF problem, new agents may be added to the environment at any time, and the current agents have no information about…

Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…

Evacuation shelters, which are urgently required during natural disasters, are designed to minimize the burden of evacuation on human survivors. However, the larger the scale of the disaster, the more costly it becomes to operate shelters.…

The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control inputs. Unfortunately, solving the resulting nonlinear optimal…

Let $G=(V,E)$ be a graph modelling a building or road network in which edges have-both travel times (lengths) and capacities associated with them. An edge's capacity is the number of people that can enter that edge in a unit of time. In…