相关论文: Analysis of Obstacle based Probabilistic RoadMap M…

We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…

Physically disentangling entangled objects from each other is a problem encountered in waste segregation or in any task that requires disassembly of structures. Often there are no object models, and, especially with cluttered irregularly…

In this paper, we develop a non-uniform sampling approach for fast and efficient path planning of autonomous vehicles. The approach uses a novel non-uniform partitioning scheme that divides the area into obstacle-free convex cells. The…

Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…

Decision making under uncertainty can be framed as a partially observable Markov decision process (POMDP). Finding exact solutions of POMDPs is generally computationally intractable, but the solution can be approximated by sampling-based…

Motion planning in modified environments is a challenging task, as it compounds the innate difficulty of the motion planning problem with a changing environment. This renders some algorithmic methods such as probabilistic roadmaps less…

If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…

Learning heuristics for vehicle routing problems (VRPs) has gained much attention due to the less reliance on hand-crafted rules. However, existing methods are typically trained and tested on the same task with a fixed size and distribution…

Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…

We study motion planning algorithms for collision free control of multiple objects in the presence of moving obstacles. We compute the topological complexity of algorithms solving this problem. We apply topological tools and use information…

A motion planning algorithm computes the motion of a robot by computing a path through its configuration space. To improve the runtime of motion planning algorithms, we propose to nest robots in each other, creating a nested quotient-space…

One of the fundamental challenges in realizing the potential of legged robots is generating plans to traverse challenging terrains. Control actions must be carefully selected so the robot will not crash or slip. The high dimensionality of…

In this chapter, we identify fundamental geometric structures that underlie the problems of sampling, optimisation, inference and adaptive decision-making. Based on this identification, we derive algorithms that exploit these geometric…

Finding asymptotically-optimal paths in multi-robot motion planning problems could be achieved, in principle, using sampling-based planners in the composite configuration space of all of the robots in the space. The dimensionality of this…

We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constraints, under which MPP problems have feasibility guarantee.…

Many methods in learning from demonstration assume that the demonstrator has knowledge of the full environment. However, in many scenarios, a demonstrator only sees part of the environment and they continuously replan as they gather…

A defining feature of sampling-based motion planning is the reliance on an implicit representation of the state space, which is enabled by a set of probing samples. Traditionally, these samples are drawn either probabilistically or…

In this work, we present a novel automated procedure for constructing a metric map of an unknown domain with obstacles using uncertain position data collected by a swarm of resource-constrained robots. The robots obtain this data during…

An asymptotically optimal sampling-based planner employs sampling to solve robot motion planning problems and returns paths with a cost that converges to the optimal solution cost, as the number of samples approaches infinity. This…

We present a theoretical analysis of a recent whole body motion planning method, the Randomized Possibility Graph, which uses a high-level decomposition of the feasibility constraint manifold in order to rapidly find routes that may lead to…