相关论文: Conflict-based Search for Multi-Robot Motion Plann…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
We study the parameterized complexity of a generalization of the coordinated motion planning problem on graphs, where the goal is to route a specified subset of a given set of $k$ robots to their destinations with the aim of minimizing the…
Conflict-Based Search (CBS) is a widely used algorithm for solving multi-agent pathfinding (MAPF) problems optimally. The core idea of CBS is to run hierarchical search, when, on the high level the tree of solutions candidates is explored,…
In this work, we systematically examine the application of spatio-temporal splitting heuristics to the Multi-Robot Motion Planning (MRMP) problem in a graph-theoretic setting: a problem known to be NP-hard to optimally solve. Following the…
Constrained Motion Planning (CMP) aims to find a collision-free path between the given start and goal configurations on the kinematic constraint manifolds. These problems appear in various scenarios ranging from object manipulation to…
Efficient motion planning for high-dimensional robotic systems, such as manipulators and mobile manipulators, is critical for real-time operation and reliable deployment. Although advances in planning algorithms have enhanced scalability to…
Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…
Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…
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…
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…
Autonomous navigation has played an increasingly significant role in quadruped robot system. However, most existing works on quadruped robots navigation using traditional search-based or sample-based methods do not consider the kinodynamic…
Recent advances in diffusion models hold significant potential in robotics, enabling the generation of diverse and smooth trajectories directly from raw representations of the environment. Despite this promise, applying diffusion models to…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
We address the Multi-Robot Motion Planning (MRMP) problem of computing collision-free trajectories for multiple robots in shared continuous environments. While existing frameworks effectively decompose MRMP into single-robot subproblems,…
Multi-robot Motion Planning (MRMP) is an active research field which has gained attention over the years. MRMP has significant roles to improve the efficiency and reliability of multi-robot system in a wide range of applications from…
The presence of task constraints imposes a significant challenge to motion planning. Despite all recent advancements, existing algorithms are still computationally expensive for most planning problems. In this paper, we present Constrained…
Conflict-Based Search (CBS) algorithm for the multi-agent pathfinding (MAPF) problem is that it is incomplete for problems which have no solution; if no mitigating procedure is run in parallel, CBS will run forever when given an unsolvable…
With the expansion of the scale of robotics applications, the multi-goal multi-agent pathfinding (MG-MAPF) problem began to gain widespread attention. This problem requires each agent to visit pre-assigned multiple goal points at least once…
Rapidly-exploring Random Trees (RRT) and its variations have emerged as a robust and efficient tool for finding collision-free paths in robotic systems. However, adding dynamic constraints makes the motion planning problem significantly…
This paper presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate to achieve a given…