相关论文: Collective motion planning for a group of robots u…

This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…

We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…

We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…

In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…

In this paper, we propose a novel navigation system for mobile robots in pedestrian-rich sidewalk environments. Sidewalks are unique in that the pedestrian-shared space has characteristics of both roads and indoor spaces. Like vehicles on…

We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…

In collective motion, perceptually-limited individuals move in an ordered manner, without centralized control. The perception of each individual is highly localized, as is its ability to interact with others. While natural collective motion…

Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…

This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where…

Diffusion generative models have demonstrated remarkable success in visual domains such as image and video generation. They have also recently emerged as a promising approach in robotics, especially in robot manipulations. Diffusion models…

This paper proposes a preliminary work on a Conditional Task and Motion Planning algorithm able to find a plan that minimizes robot efforts while solving assigned tasks. Unlike most of the existing approaches that replan a path only when it…

With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…

In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…

Robots hold great promise for performing repetitive or hazardous tasks, but achieving human-like dexterity, especially in contact-rich and dynamic environments, remains challenging. Rigid robots, which rely on position or velocity control,…

While motion planning techniques for automated vehicles in a reactive and anticipatory manner are already widely presented, approaches to cooperative motion planning are still remaining. In this paper, we present an approach to enhance…

We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…

Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…

In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…