相关论文: Priority-based coordination of mobile robots

Relational networks within a team play a critical role in the performance of many real-world multi-robot systems. To successfully accomplish tasks that require cooperation and coordination, different agents (e.g., robots) necessitate…

In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…

Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…

This paper studies the cooperative driving of connected and automated vehicles (CAVs) at conflict areas (e.g., non-signalized intersections and ramping regions). Due to safety concerns, most existing studies prohibit lane change since this…

In this paper we consider the problem of coordinating autonomous vehicles approaching an intersection. We cast the problem in the distributed optimisation framework and propose an algorithm to solve it in real time. We extend previous work…

Vehicle route prediction is one of the significant tasks in vehicles mobility. It is one of the means to reduce the accidents and increase comfort in human life. The task of route prediction becomes simpler with the development of certain…

Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…

We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…

Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…

Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…

Connected automated driving has the potential to significantly improve urban traffic efficiency, e.g., by alleviating issues due to occlusion. Cooperative behavior planning can be employed to jointly optimize the motion of multiple…

Cooperative coordination at unsignalized road intersections, which aims to improve the driving safety and traffic throughput for connected and automated vehicles, has attracted increasing interests in recent years. However, most existing…

In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…

We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…

The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…

This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…

In this paper, we propose a novel methodology for path planning and scheduling for multi-robot navigation that is based on optimal transport theory and model predictive control. We consider a setup where $N$ robots are tasked to navigate to…

In communication restricted environments, a multi-robot system can be deployed to either: i) maintain constant communication but potentially sacrifice operational efficiency due to proximity constraints or ii) allow disconnections to…

Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…

The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about…