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Shape assembly, the process of combining parts into a complete whole, is a crucial robotic skill with broad real-world applications. Among various assembly tasks, geometric assembly--where broken parts are reassembled into their original…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
We initiate the study of property testing in arbitrary planar graphs. We prove that bipartiteness can be tested in constant time, improving on the previous bound of $\tilde{O}(\sqrt{n})$ for graphs on $n$ vertices. The constant-time…
We present novel oblivious routing algorithms for both splittable and unsplittable multicommodity flow. Our algorithm for minimizing congestion for \emph{unsplittable} multicommodity flow is the first oblivious routing algorithm for this…
Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
Motion planning for a multi-limbed climbing robot must consider the robot's posture, joint torques, and how it uses contact forces to interact with its environment. This paper focuses on motion planning for a robot that uses nontraditional…
The ability to track a general walking path with specific timing is crucial to the operational safety and reliability of bipedal robots for avoiding dynamic obstacles, such as pedestrians, in complex environments. This paper introduces an…
We initiate the study of a fundamental combinatorial problem: Given a capacitated graph $G=(V,E)$, find a shortest walk ("route") from a source $s\in V$ to a destination $t\in V$ that includes all vertices specified by a set…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
Online planning of whole-body motions for legged robots is challenging due to the inherent nonlinearity in the robot dynamics. In this work, we propose a nonlinear MPC framework, the BiConMP which can generate whole body trajectories online…
Multi-robot path planning is difficult due to the combinatorial explosion of the search space with every new robot added. Complete search of the combined state-space soon becomes intractable. In this paper we present a novel form of…
Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samples to construct an implicit graph representation of the…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
Kinodynamic motion planning for non-holomonic mobile robots is a challenging problem that is lacking a universal solution. One of the computationally efficient ways to solve it is to build a geometric path first and then transform this path…
We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to a discrete space, where each degree of freedom has a finite…
Maximization of the entropy rate is an important issue to design diffusion processes aiming at a well-mixed state. We demonstrate that it is possible to construct maximal-entropy random walks with only local information on the graph…
The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…