相关论文: Multi-Robot Path Planning Using Medial-Axis-Based …

Multirobot systems for covering environments are increasingly used in applications like cleaning, industrial inspection, patrolling, and precision agriculture. The problem of covering a given environment using multiple robots can be…

This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The planned motions must also satisfy the differential constraints…

At modern warehouses, mobile robots transport packages and drop them into collection bins/chutes based on shipping destinations grouped by, e.g., the ZIP code. System throughput, measured as the number of packages sorted per unit of time,…

Multi-Robot Task Planning (MR-TP) is the search for a discrete-action plan a team of robots should take to complete a task. The complexity of such problems scales exponentially with the number of robots and task complexity, making them…

In this paper, we propose a novel hierarchical framework for robot navigation in dynamic environments with heterogeneous constraints. Our approach leverages a graph neural network trained via reinforcement learning (RL) to efficiently…

Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…

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…

Multi-robot collaboration is becoming increasingly critical and presents significant challenges in modern robotics, especially for building a globally consistent, accurate map. Traditional multi-robot pose graph optimization (PGO) methods…

We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…

Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…

Multi-Agent Path Finding (MAPF) remains a fundamental challenge in robotics, where classical centralized approaches exhibit exponential growth in joint-state complexity as the number of agents increases. This paper investigates Quadratic…

In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…

Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…

We present new models of optimization-based task and motion planning (TAMP) for robotic pick-and-place (P&P), which plan action sequences and motion trajectory with low computational costs. We improved an existing state-of-the-art TAMP…

Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…

The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan…

The problem of mixed static and dynamic obstacle avoidance is essential for path planning in highly dynamic environment. However, the paths formed by grid edges can be longer than the true shortest paths in the terrain since their headings…

In Coordinated Motion Planning (CMP), we are given a rectangular-grid on which $k$ robots occupy $k$ distinct starting gridpoints and need to reach $k$ distinct destination gridpoints. In each time step, any robot may move to a neighboring…

Thanks to the rapid evolvement of robotic technologies, robot mowing is emerging to liberate humans from the tedious and time-consuming landscape work. Traditionally, robot mowing is perceived as a "Coverage Path Planning" problem, with a…

Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…