相关论文: A Discrete and Continuous Study of the Max-Chain-F…
In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…
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…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…
Many practical applications of robotics require systems that can operate safely despite uncertainty. In the context of motion planning, two types of uncertainty are particularly important when planning safe robot trajectories. The first is…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
The maximum common subtree isomorphism problem asks for the largest possible isomorphism between subtrees of two given input trees. This problem is a natural restriction of the maximum common subgraph problem, which is ${\sf NP}$-hard in…
We introduce the \emph{submodular objectives chasing problem}, which generalizes many natural and previously-studied problems: a sequence of constrained submodular maximization problems is revealed over time, with both the objective and…
The Arbitrary Pattern Formation problem asks for a distributed algorithm that moves a set of autonomous mobile robots to form any arbitrary pattern given as input. The robots are assumed to be autonomous, anonymous and identical. They…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
The aim of the dispersion problem is to place a set of $k(\leq n)$ mobile robots in the nodes of an unknown graph consisting of $n$ nodes such that in the final configuration each node contains at most one robot, starting from any arbitrary…
The gathering over meeting nodes problem asks the robots to gather at one of the pre-defined meeting nodes. The robots are deployed on the nodes of an anonymous two-dimensional infinite grid which has a subset of nodes marked as meeting…
A swarm of anonymous oblivious mobile robots, operating in deterministic Look-Compute-Move cycles, is confined within a circular track. All robots agree on the clockwise direction (chirality), they are activated by an adversarial…
We consider a variant of the crash-fault gathering problem called stand-up indulgent gathering (SUIG). In this problem, a group of mobile robots must eventually gather at a single location, which is not known in advance. If no robots crash,…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
The paper is devoted to the study of a new class of optimal control problems for nonsmooth dynamical systems governed by nonconvex discontinuous differential inclusions of the sweeping type with involving variable time into optimization. We…
Optimization problems with drones are widely studied in a variety of civilian tasks, mainly due to their ability to traverse rough terrains and to carry cameras and other sensors for surveillance tasks. The limited battery life of these…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…