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

Extreme weather events have an enormous impact on society and are expected to become more frequent and severe with climate change. In this context, resilience planning becomes crucial for risk mitigation and coping with these extreme…

Multi-vehicle coordinated motion planning has always been challenged to safely and efficiently resolve conflicts under non-holonomic dynamic constraints. Constructing spatial-temporal corridors for multi-vehicle can decouple the…

Several simulation environments exist for the simulation of large-scale evacuations of buildings, ships, or other enclosed spaces. These offer sophisticated tools for the study of human behaviour, the recreation of environmental factors…

Path planning for multiple unmanned aerial vehicles is a difficult task, and even more for a fleet of fixed-wing aircraft. One specific case is the transition to, or between, formation flight patterns, which requires synchronous arrivals…

In this paper, a new metaheuristic optimization algorithm, called Path Construction Imitation Algorithm (PCIA), is proposed. PCIA is inspired by how humans construct new paths and use them. Typically, humans prefer popular transportation…

Conflict-Based Search (CBS) is a state-of-the-art algorithm for multi-agent path finding. At the high level, CBS repeatedly detects conflicts and resolves one of them by splitting the current problem into two subproblems. Previous work…

Multi-UAV systems are safety-critical, and guarantees must be made to ensure no unsafe configurations occur. Hamilton-Jacobi (HJ) reachability is ideal for analyzing such safety-critical systems; however, its direct application is limited…

This paper is aimed at providing a very first, more "global", systematic point of view with respect to possible conflict generation in CA-EN-like causal structures. For simplicity, only the outermost level of graphs is taken into account.…

Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing methods often struggle to simultaneously satisfy these two…

This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…

Generating realistic 3D indoor scenes from user inputs remains a challenging problem in computer vision and graphics, requiring careful balance of geometric consistency, spatial relationships, and visual realism. While neural generation…

Stochastic sequential decision making often requires hierarchical structure in the problem where each high-level action should be further planned with primitive states and actions. In addition, many real-world applications require a plan…

Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…

Autonomous driving systems have witnessed a significant development during the past years thanks to the advance in machine learning-enabled sensing and decision-making algorithms. One critical challenge for their massive deployment in the…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

For scenes such as floods and earthquakes, the disaster area is large, and rescue time is tight. Multi-UAV exploration is more efficient than a single UAV. Existing UAV exploration work is modeled as a Coverage Path Planning (CPP) task to…

In this paper we propose a technique that assigns obstacles to clusters used for collision avoidance via Mixed-Integer Programming. This strategy enables a reduction in the number of binary variables used for collision avoidance, thus…

The 2023 Lahaina wildfire killed 102 people on a peninsula served by a single two-lane highway, making exit lane capacity the binding constraint on evacuation time. We model the evacuation as a system of hyperbolic scalar conservation laws…

Water events are the most frequent and costliest climate disasters around the world. In the U.S., an estimated 127 million people who live in coastal areas are at risk of substantial home damage from hurricanes or flooding. In flood…

Although the use of metric fluents is fundamental to many practical planning problems, the study of heuristics to support fully automated planners working with these fluents remains relatively unexplored. The most widely used heuristic is…