相关论文: Ensuring Progress for Multiple Mobile Robots via S…
Efficient routing of mobile robot fleets is crucial in intralogistics, where delays and deadlocks can substantially reduce system throughput. Roadmap design, specifying feasible transport routes, directly affects fleet coordination and…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously…
We present a model predictive control (MPC) framework for efficient navigation of mobile robots in cluttered environments. The proposed approach integrates a finite-segment shortest path planner into the finite-horizon trajectory…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…
Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
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…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
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…
Fully decentralized, safe, and deadlock-free multi-robot navigation in dynamic, cluttered environments is a critical challenge in robotics. Current methods require exact state measurements in order to enforce safety and liveness e.g. via…
Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…
Multi-robot systems are increasingly being used for critical applications such as rescuing injured people, delivering food and medicines, and monitoring key areas. These applications usually involve navigating at high speeds through…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…
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…
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…
In-Motion physical coupling of multiple mobile ground robots has the potential to enable new applications like in-motion transfer that improves efficiency in handling and transferring goods, which tackles current challenges in logistics. A…