相关论文: Technical Report: A Hierarchical Deliberative-Reac…

We introduce the notion of online reactive planning with sensing actions for systems with temporal logic constraints in partially observable and dynamic environments. With incomplete information on the dynamic environment, reactive…

Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path…

Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…

We present a principled and efficient planning algorithm for collaborative multiagent dynamical systems. All computation, during both the planning and the execution phases, is distributed among the agents; each agent only needs to model and…

With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…

Complex manipulation tasks require careful integration of symbolic reasoning and motion planning. This problem, commonly referred to as Task and Motion Planning (TAMP), is even more challenging if the workspace is non-static, e.g. due to…

Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…

As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these…

We perform a refined complexity-theoretic analysis of three classical problems in the context of Hierarchical Task Network Planning: the verification of a provided plan, whether an executable plan exists, and whether a given state can be…

There are many challenges for robot navigation in densely populated dynamic environments. This paper presents a survey of the path planning methods for robot navigation in dense environments. Particularly, the path planning in the…

Robot path planning plays a pivotal role in enabling autonomous systems to navigate safely and efficiently in complex and uncertain environments. Despite extensive research on classical graph-based methods and sampling-based planners,…

Task and Motion Planning combines high-level task sequencing (what to do) with low-level motion planning (how to do it) to generate feasible, collision-free execution plans. However, in many real-world domains, such as automated warehouses,…

We consider a sequential task and motion planning (tamp) setting in which a robot is assigned continuous-space rearrangement-style tasks one-at-a-time in an environment that persists between each. Lacking advance knowledge of future tasks,…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…

Integrated task and motion planning has emerged as a challenging problem in sequential decision making, where a robot needs to compute high-level strategy and low-level motion plans for solving complex tasks. While high-level strategies…

Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…

Markov decision processes model systems subject to nondeterministic and probabilistic uncertainty. A plethora of verification techniques addresses variations of reachability properties, such as: Is there a scheduler resolving the…

Behavior planning is known to be one of the basic cognitive functions, which is essential for any cognitive architecture of any control system used in robotics. At the same time most of the widespread planning algorithms employed in those…

We present a strategy for designing and building very general robot manipulation systems involving the integration of a general-purpose task-and-motion planner with engineered and learned perception modules that estimate properties and…